Research On Standardization And Trajectory Planning Of The Masterslave Robots’ Coordinated System

With the new industrial upgrade, the robotics embraces its prosperity period of development. Original human works such as complex processes, will be replaced by robots sooner or later. It`s challenge for the robot technology,especially for the complex motion of the robot coordination motion system. Taking the master-slave robots system as an example, the key technologies on multi-robot system such as the master-slave robot system calibration, master-slave robot trajectory planning methods was studied in this essay. The main point of this essay are as follows:Base coordinate system calibration is the basis for the establishment of kinematics model of the coordination motion system. In order to solve the contradiction between the precision for the calibration and the complex operation during the calibration, a self-calibration method was put forward. The procedures of this method are simple. teach the master-slave robots to intersection at two points in space and then use the geometry at that time to solve the base coordinate system relative posture matrix. Tentative was designed to analyze the precision of the calibration method, and the results showed that the method is feasible. A field test was made to calibrate a base coordinate system.The model of coordinate system was established for its research. To model a six degree of freedom serial robot system,the D-H method was used and the forward kinematics and inverse solution were solved. the D-H method is easy to achieve and a simulation was managed verify the correctness of the model. Base coordinate system calibration was completed by a self-calibration method of the master-slave robots. Based on all things done above, the kinematic model of coordinated motion system was established, which is the foundation of the study on the trajectory planning method of the coordinated motionAs for the problem of the trajectory planning method of the coordinated motion, three primary constraint relations from the hand of the master-salve robots were analysed and each of them matched a kind of trajectory planning method, which solved the problem that the how the salve robot to follow the master robot. To verify the trajectory planning method, two simulation experiments were designed by implementing the method in the offline editing system. And the result reached a position accuracy of 10-4 meter, which proved the significance of this method.