Casting Robot Coordinated Control Research

With the rapid development of robot technology, robot is now capable of more and more working places. But application of robot in casting field is still relatively small, and traditional casting process is a harsh environment, due to the quality of products is entirely dependent on unreliable manual. And by the application of industrial robots doing cast process, one-piece costs will be reduce, product performance and qualified rate will improve. Therefore, it has broad application prospects in the production of aluminum anode casting.Currently research of robot is more focused on the study of individual robots, but in fact for some complex tasks, it is impossible to complete the terms with a single robot. For certain casting tasks, due to the heavy load, complex environment and high reliability needed. Therefore, the use of multi-robot coordinated control system is better than a single robot. Compare a single robot, the multi-robot system has a better economy, robustness, parallelism and fault tolerance.Research expand based of coordination control of casting multi-robot, we build the dynamic and kinematic model of robot. After set the D-H parameters table, we calculate the robot forward and inverse kinematics solution. On the basis of the establishment of the mechanical arm mathematical model, we study on the stability of robot arms, use a LQR controller which is opitimized by PSO to do the stability of the robot arms. For the certain task, give a cubic polynomial interpolation to get the shortest time of a motion.Build a simulation platform, using three-dimensional modeling software for modeling anode casting dual robot system. Then we transfer the solid model into Adams and add constraints and link weight to run the dynamic simulation in Adams and KUKA sim pro. By the simulation, we verified the correctness of coordination control theory. Provide a theoretical basis for the casting robot applications in the physical environment.