Research On Technologies Of The Dual-industrial-robot’s Coordination

With the progress of the society, the requirements of the robotics for theindustrial production is getting higher and higher. In many cases, the single robot isunable to meet the requirements of the production. So the multi-robot technologyarises at the historic moment and has become a hot research topic in the field of therobotics.This paper is based on the dual industrial robot system, researching on somekey technologies of the multi-robot system. We do some research on the calibration,the collision detection, the trajectory planning and the layout of the dual-robotsystem. The main contents are as follows.Firstly, we established the kinematic models of the two industrial robots in thedual-robot system. Then we proposed a method based on three-point to calibrate thesystem. After the calibration, the digital simulation of the calibration proved thevalidity of this calibration method.During moving, the collision between the robots is prone to happen. So thecollision detection is necessary for the dual-robot system. During the collisiondetection algorithm, the robots were simplified to some simple geometries, such ascapsules and spheres, according to the actual situation of the robot itself. Then theshortest distance between the simplified geometries were calculated by theparabolic function and binary function. The collision detection was completed bythe shortest distance. After that, the MATLAB and ADAMS were used to verify thealgorithm of the collision detection.The core of the coordinated dual-robot system is the trajectory planning duringthe coordinated movement. This paper did an in-depth research on the kinematics ofthe dual-robot system based on the coordinated handing and coordinated writing.After that, the simulation was done in MATLAB and the results of the simulationshowed that all the discrete points were reached and the two robots were steadyduring moving. So it proved that the analysis of the dual-robot was correct.The layout of the dual-robot system was the basis for the dual-robot system.The quality of the layout directly affected the quality of the task. The threeindicators which were reachability, stability and the flexibility were proposed based on the kinematics and the requirements of the tasks. The three indicators wereregarded as the optimization objective function of the layout. And the layout of thedual-robot system was elaborated for the coordinated handing and coordinatedwriting. Then the simulation of the layout’s result was done to be compared with theprevious system. At last, after the layout optimization we could find that themovement was smoother and the flexility was bigger than the previous system. So itverified the correctness of the layout.Finally, the experiment platform of the dual-robot system was established andthe coordinated experiment including the synchronous movement coordinationexperiment and the relative movement coordination experiment were done on thisplatform. The results of the experiment showed the correctness of the trajectoryplanning.