| Compared with the traditional industrial processing technology, the robot has the characteristics of intelligence, flexibility and high efficiency,as an important branch of robot work, the level of multi robot cooperation directly determines the quality and efficiency of production. In order to improve the intelligent level of multi robot cooperation, the robot’s perception ability can be improved by introducing the force sense information,visual information and optimizing the processing path of the robot.This paper takes the plane processing of robot as an example,do some research about the dual robot cooperation based on force sense and vision.Firstly,this paper introduces the background and research status of the dual robot cooperation.Secondly, the problem of robot processing path optimization for multi-contour parts is studied, and a new path planning algorithm based on the improved genetic algorithm and the minimum external triangle method is proposed in this paper,the genetic algorithm based on modified circle is applied to optimize the cutting path which selected arbitrarily, an optimal contour sequence is found,the minimum external triangle method is used to seek the node as the tool entrance on each adjacent contour dynamically, and an optimal cutting path is constructed through several iterations in this way,simulation results show that the cutting path for robot can be constructed effectively and the non-cutting path can be shortened by using the propose algorithm.Thirdly,based on the algorithm of force sense impedance control,take milling machine chemical wood as an example,the processing force model was established by orthogonal experiment. Then, introducing the principle of binocular vision, and the robot hand eye calibration was completed,and in view of the visual tracking problem, in order to make the manipulator tracking of a target object is more accurate, proposing the improved Kalman filtering algorithm based on the traditionalKalman filter algorithm and genetic algorithm. Finally, the coupling of the robot and the superposition algorithm are analyzed, and for dual robot plane processing problems of dynamic space, in order to increase the intelligent level of dual robot coordination,proposing the hybrid algorithm of dual robot collaborative based on force and visual, and rational planning the respective role of force control algorithm and visual control algorithm in dual robot coordination, and cooperation simulation analysis of dual robot was performed, according to the existing condition of the experimental process, on the basis of dual robot coordination theory research, relevant experimental studies were carried out, such as force feedback contrast experiment, visual tracking experiment, two robot plane processing experiment,and verify the feasibility of the proposed algorithm. |
