Coordinated Motion Planning Of Multiple Industrial Robots

The application of industrial robots can reduce the labor intensity of workers, andenhance workplace health safety. What’s more, the degree of automation and productioncontinuity can be improved. However, with the expansion of application fields, single robot isfacing more limitation. On many occasions, multiple robot coordination work is needed tocomplete the task, in order to improve the accuracy, stiffness, bearing capacity and flexibility.Aiming at some problems in actual application of multi-robot coordination, a multi-robotoff-line coordination software is developed based on the off-line robot programming systemusing DXF files of our lab.In the multi-robot coordinated motion planning, firstly, the kinematics model of the sixdegrees of freedom industrial robot and the positioner is established. The D-H method is usedto calculate the positive and inverse kinematics solution of the industrial robot. Consideringthe closed-loop kinematic chain, the origin and Z axis calibration method is used to calculatethe relationship between the base coordination of the industrial robot and the positioner. Atthe same time, the positive kinematics solution of the positioner is figured out directly. Next,the reachable workspace of the robots and the workpiece, the workpiece calibration and theprinciple of multi-robot coordinated motion are analyzed. The detailed analysis of thesesolutions will also be presented for the spherical workpiece operation. Gesture planning andmotion optimization, the reachable workspace, and the optimal manipulability workspace aresolved successively. In which, the optimal manipulability workspace is get by combining themultiple solutions index, the manipulability index, and the motion index. After these methodsand analysis having been proposed, integrate them to be a software system which is named asthe off-line coordination software system. Finally, a series of experiments are carried outusing the Guangzhou CNC industrial robots. These experiments, especially the carvingexperiment, proved that the methods we proposed are rational, feasible and accurate. Theexperimental results show that the off-line coordination software system will have importantvalue for the application in welding, spraying, polishing and other fields in the future.