Design And Research On The Control System Of Multi-robot Cooperative Hoisting Platform

With the development of science and technique, the robot study has the strong vitality more and more, and on a certain degree it is the deputy to the latest development of technical on information technique, automation the technique, system gather etc nowadays. With flexible architecture and high adapt ability, multi-robot system (MRS) can be widely used. In many areas such as astronautics, national defense; industry, service and so on .To take the Advantages of MRS, system coordination is a key problem.UAV is a kind of special robot. There are many colleges and universities research on UAV of China. But their research is always on route design and control system of the single helicopter. Where the large-scale crane can't reach and when the weight of equipment is too heavy for a single helicopter in the air, we need UAVS working together, so the research on the multi-robot cooperative hoisting is very significant.Helicopters couple and communicate with each other through ropes, it needing every helicopter ensures the safety of itself and the control system regulates the magnitude and direction of the force, in order to assure the balance of the cargoes. At the present time, it's difficult for us to use three helicopters work together for our test, so the author use three ABB work together in place of three helicopters, building a system platform for our test, in research of how to keep the stabilization of the cargoes under the manipulator moving in the scheduled route. And the following questions were discussed in this thesis according to the sequence of building of system platform, kinematics and stability, the design of control system and experiment.