Algorithm Research And Simulation Of Multi-Robot Cooperation Welding System

With the growing complexity of manufacturing processes and gradual automation of industry chains, the ability of a single robot has been unable to qualify the current diversified production environment and job tasks, for example, in the work of collaborative-handling and welding-without-fixtures, single robot snowed great limitations. With the cross development of computer science, modern control theory, robotics and other disciplines, robot technology steps onto a new level, the research of robots also shifts gradually from simple application of a single robot to cooperation and coordination of multi-robot This paper conducts in-depth research of multi-robot cooperation welding system, the content includes:the task planning of cooperation welding multi-robot, the calibration method of coordinates of multi-robot, the kinematics coordination trajectory planning of multi-robot The detailed contents are listed as follows.According to the multi-robot system, this paper adopts the method of Top-Do wn, constructs a hierarchical hybrid structure that is able to adapt to complex task allocation and planning the multi-robot system is divided into cooperation layer, coordination layer and execution layer. Among them, the cooperation layer is responsible for high-level organization and operation mechanism, the coordination layer is responsible for the action coordination among the robots, the execution layer is responsible for the implementation of specific actions.According to the multi-robot semi-coordinated welding task planning of cooperation layer, through analyzing constraints of process requirements, robot accessibility in welding multiple welding seams of complex spatial structure, this paper models the multi-robot cooperation welding task planning with work balance, time cost, etc. as the optimization goaL Moreover, based on the dual-robot system, this paper proposes a kind of multi-chromosome Genetic Algorithm to generate the optimal welding sequence.According to the calibration problem of multi-robot system, through building closed kinematic chain for multi-robot of coordination, this paper proposes a kind of calibration method of multi-robot’s base coordinates. First, model the calibration problem as a feast squares problem; Second, install calibration fingers for robots and collect sample points through "handshake" experiments; Third, calculate the sample points through ICP algorithm, resulting in the analytical solution of transformation relations between the base coordinates. Having no use for expensive sophisticated instruments and easy to operate, this method can greatly reduce production costs and save production time.According to the multi-robot kinematics coord inat ion trajectory planning of coordination layer, on the basis of building closed kinematic chain for multi-robot, this paper establishes the tightly coupled model and loosely coupled model of master-slave-robots, then processes analysis and simulation in dealing with three typical welding cases:board-board welding, board-pipe welding, pipe-pipe welding, demonstrating the correctness of the models.