Research And Development On Key Technology Of Open And Intelligent Control System Based On Multiple Robots

The design concept of open and intelligent control system based on the multiplerobots is proposed by this dissertation from the practical application point of view, byanalyzing the present robotic system and open control system. Some key issues in thedevelopment of open and intelligent multi-robot control system, includinghigh-precision control of robot, dynamic error compensation, optimal path planning,parameterized programming and the design method of hardware and software of opensystem, are investigated. The following contributions and conclusions have beenmade:The concept of robot active and workpiece passive precision control isformulated. On the respect of robot active precision control, the dynamic velocityfeed-forward compensation control (DVFCC) based on the radical basis functionneural network (RBF-NN) identification of robot uncertain model is proposed.On the respect of workpiece passive precision control, the structure lightdetection (SLD) of workpiece shape and positioning errors is adopted to extractthe characteristic parameters of machining process. The dynamic errorcompensation is achieved by database technology. The results indicate that theproposed precision control approach can improve the machining accuracyefficiently.An optimal path planning approaching using dynamic velocity modification isinvestigated to achieve the collision-free motion of multi-robot based on thetheory of Configuration Space (C-Space) and A*path search algorithm. Thesimulation results demonstrate that the proposed method can obtain practicalcollision-free path between multiple arms.A novel program method of parameter-driven technology based on parameterextraction from three-dimensional model of workpiece is investigated. Theprocessing codes can be generated automatically by parameter-drivenprogramming approach, where the machining parameters is obtained fromstandard database, error data of SLD and the proposed extraction ofthree-dimensional model of workpiece.An open hierarchical architecture design scenario for system hardware update and software redevelopment is conveniently adopted in the proposed system. TheIPC as master controller and “DMC controller+Image Collection Card+PLC”as slave controllers are employed in the development of the hardware platform ofopen system. The proper communication mode is adopted to exchange theinformation between master and slave controllers. The real-time data updatebased multi-media timer technology is proposed by assignment and managementof real-time property of various control tasks, which utilizes dual-buffer controlapproach to achieve the safe and efficient execution of control instructions.The performance of the proposed open and intelligent multi-robot control systemis validated on the cutting task of H-beam steel on the offshore platform. Theexperimental results illustrate that the proposed system can significantly improvethe machining precision and efficiency with high automation level.