The Research And Implementation Of Multi-robot Base Frame Calibration And Cooperation

Research and design of multi-industrial robot collaboration system is the trend of the industrial robotics research in recent years, it is the key technology of industrial automation. There are two main ways to build the system:one is based on robot off-line programming system (ROPS) and base frame calibration for coordinated industrial robots; the other one is based on multi-robot force/position hybrid control strategy. This paper first analysis and summarizes the research status and problems of these two methods, and use the ROPS method. To solve the problem of base frame calibration for coordinated multi-robot system more effectively, this paper proposed a new method based on projection algorithm, and then apply the calibration results to the multi-robot system based on ROPS. By classification and calculation of coordination trajectory, build a master-slave mode multi-robots system and verify the feasibility of the system by mission planning.In this paper, a multi-industrial robot collaboration system is proposed as the research object, mainly developed. The paper is divided into six chapters, contents of each chapter list as follows:In the first chapter, the background and significance of the subject is described, and introduces the development of industrial robots, reviewed the calibration methods and research status of multi-robot cooperative system, and analyzes the deficiencies of the existing research methods. Finally the main content and the overall framework of the paper is summarized.In the second chapter, single robot kinematics modeling method is discussed, and a Siasun 6-axis industrial robot model is built use the method. A robot kinematic simulation platform is built using the computer-aided design. And the formation of multi-robot kinematics model is created by establishing the relative relationship between multiple robots in the world coordinate system.In the third chapter, a projection algorithm calibration method for multi-robot system is introduced. And the theoretical model and the error analysis and simulation of the method is discussed.In the fourth chapter, an experimental platform for calibration of multi-industrial robot based on projection algorithm method is built. And an experiment is designed using two industrial robots, and the data obtained were processed using the algorithms. The results were validated and the error was analyzed.In the fifth chapter, different types of multi-robot coordination system were classified, and different motion coordination methods were built based on the classification. And a multi-robot system doing compound movements was designed based on robot off-line programming system using two industrial robots. And the collaborative path accuracy was discussed.In the last chapter, the main contents and innovation of this paper is summarized, and future research directions and methods were discussed.