Research Of Dual Robot Motion Control During Coordinated Movement

With the rapid development and application of industrial robotics technology, the requirements of industrial robots are require finishing more complex tasks, having faster speed and higher precision. In industrial production, there are some complex and difficult tasks, such as handling heavy and huge work-pieces, processing moving work-piece or larger scope of work required. A single industrial robot is difficult to complete these three cases. But if two or more operations robots joint together, they are capable to have high-quality job done. Due to this practical problem, putting industrial dual robot in our laboratory as research object, we studied how to plan dual robot trajectory and achieve motion control. We also finished the simulation experiments of this research.The standard D-H method is used to build link coordinate system to analyze model of four degrees freedom and six degrees freedom robot. We build positive and inverse kinematic equation via using link parameters and link coordinate system. Meanwhile, dual robot kinematics is obtained. Each individual work space and cooperation area of dual robot is founded based on Monte Carlo method in MATLAB.In this article, joint space and Cartesian space trajectory planning are described and researched in-depth. MATLAB Robotics Toolbox is used to analyze and simulink. Experiment shows that robot is stable to finish proposed tasks and each point on the robot path can be reached within the operating range.In the end of paper, method of controlling robot bottom joint is introduced. For the traditional PID control algorithm requiring to periodic manual change the parameters while controlling robot joints motion, we used fuzzy PI control to achieve the purpose of improving control performance and control accuracy via on-line parameters adjustment. There are 54 figures, 3 tables and 60 references in this paper.