Research And Implementation Of Interactive Multi Robot System Simulation

Multi robot system is an important part of unmanned systems. In order to solve the complicated operation process, task variety problem, construct a heterogeneous multi robot system is a necessary means. The construction of the actual operating system and implementation complexity, make the establishment of interactive simulation method very important. Through the establishment of interactive multi-robot simulation system, it can be set for the actual robot system for optimal trajectory and also validated for the multi-robot assembly sequence, which can help to avoid unnecessary losses of mechanical collision.In order to achieve the invitation of interactive multi-robot simulation system, first of all, the model of principle and method need to be built for the model of mechanical; then, the faces, colors and structures need to be variously integrated and optimized, which makes it satisfy the accuracy of the mechanical model and the real effect of the simulation, and improve the simulation speed in some extent. In order to have a reasonable man-machine interaction effect, it is necessary to understand and analysis the implementation principle of robot simulation system, and combine the simulation engine with the actual situation; thus, a solution of a kind of robot simulation system can be proposed.Recently, most of the robot use collaboration model, aiming at the deficiency of traditional interactive multi robot disassembly assembly sequence simulation, we present an assembly sequence generation method for more complex multiple components, assembling tools, multi robot interaction. We use assembly precedence graphto describe the constraints relation among the parts, to construct the assembly precedence matrix. Set the parameters according to the ability of heterogeneous robot.Assembly precedence graphto was transformed into assembly precedence matrix, explore the determinant solution, then calculated the parts that can be processed currently. The idle state of tools collaborative work with capable robots.so that we can get reasonable operation of assembly and disassembly sequence. providing assistant to the operation.For the detection during the process of assembling, the reasonable collision detection method is introduced, and this method can cooperate with disassembly sequence to verify the program, provide real-time data and precaution for the next step measurement. Based on the research of the interactive multi-robot simulation system and the implementation, the model establishment, model optimization, simulation driving, disassembly sequence solution of simulation, collision detection and real-time warning interface, the sequence process help realize the function of the interactive multi-robot simulation system, and be familiar with the whole process of the simulation modeling.