Planning And Research Of Coordinated Movement For Dual-robots

With the rapid development of robot technology and expansion of application field, therobot is required to be faster, more precise and complete more complex assignment. Inindustrial production line, there are a large number of difficulty tasks. For example carryinglarge and heavy work piece, machining moving work piece or bigger motion space. In thesesituations, one robot cannot finish them by itself, but two or more robots can accomplish thesetasks very well. As for the special situation, this paper research the coordinated operatingsystem for dual-robots based on the system of industrial robot and positioner.When coordinated movement path of dual-robots is planned, the paper builds themathematical modeling of coordinated movement for dual-robots. When coordinatedmovement for dual-robots is analyzed, the movement curve of robot can be analyzed totranslation and revolution along axis X, axis Y and axis Z. The paper has built the D-Hparameter table mathematical modeling for system of robot and positioner, and obtained theforward and inverse algorithm.The paper confirms whether the mathematical modeling of coordinated movement formulti-robots is correct or not by the simulation of MATLAB and Adams after the analysis ofthe mathematical modeling. It builds solid model by Solidworks, simulates dynamics andkinematics by Adams and use the MATLAB/Simulink to build the control system. It canpredict the force and torque for inner stress of work piece when coordinated movement ofdual-robots is running, doing foundation for experiment later.The paper develops a set of coordinated movement program, and it is divided intoreading part of offline program, coordinated plan part and simulation part. At first, it reads theoffline program of leader robot, and is stored up into chain table. Then it simulates to judgewhether the plan is correct or not after coordinated plan. Lastly it does the experiment on theGSK robot. The result shows the coordinated operating program is practicability and universal.It is practical value in the field of complicated coordinated operating task and system of robotand positioner.