Resarch On Coordinated Collision Avoidance Of Dual Industrial Robots

With the development of modern industry,industrial robots need to solve the increasingly complex tasks,a single industrial robot has been unable to adapt to the system for intelligence and system compliance requirements.Compared to a single industrial robot,dual robot system can greatly shorten the task time,improve operating efficiency,maximize the use of operating space,and have a more superior load capacity and rigidity.Due to the overlap of the work space,the dual robots at work may have a great impact on each other or even a collision,threatening personal and property safety.Therefore,the dual robot system to avoid the risk of collision,planning collision avoidance path to become the biggest prerequisite for safe operation.In order to solve the hidden dangers of the double robot system in the actual operation,this paper takes the double industrial robot coordination system as the object,and deeply studies the collision detection and collision avoidance planning of the system.Firstly,the DH table is established for the two-robot loose coordinate model,and the differential equations of the space motion of the robot tool are deduced.At the same time,the change of the posture of the robot tool and the transformation between the joints are analyzed.The translation matrix of the translation and rotation between the joints and the solution of the positive and negative processes of the kinematics,which laid the foundation of the basic theory for the later kinematics research.Secondly,the collision detection of double robot is studied.The cylindrical-hemispherical bounding box model is selected for the simplified modeling of the solid model.The model has the characteristics of good degree of encirclement and relatively simple model,but its cylindrical surface distance is complicated.In order to solve the problem of the model,this paper uses the interior penalty function algorithm to solve the nonlinear optimization with constraints by solving the unconstrained problem,and simplify the complex three-dimensional distance calculation between the two robots in the stereo space into two-dimensional space Nonlinear optimization of the problem,greatly reducing the complexity of the calculation and difficulty,and through simulation experiments verify the accuracy and effectiveness of the algorithm.On the basis of the shortest distance algorithm between the two robots,this paper improves the optimal rate exclusion field model by three aspects: the success rate of collision avoidance,the time required for the completion of the task and the degree of the shortest distance curve.On the basis of the traditional velocity exclusion field model,three parameters which can be used to adjust the task completion time and the oscillation frequency can be adjusted by the operator's man-made control.Finally,an improved rate exclusion field model satisfying all the aboveconditions is obtained.Considering the unexpected situation that may occur in the actual operation,the experimental results prove the efficiency and stability of the improved model of the velocity exclusion field,and achieve the expectation of the collision avoidance of the double robot.In this paper,the distance calculation and collision avoidance path planning of dual industrial robots coordination system are studied deeply.The shortest distance calculation algorithm based on the interior point penalty function method is used to calculate the shortest distance between the two robots accurately.On this basis,the improved velocity exclusion field model is also improved under the premise of collision avoidance Efficiency and reduce the shortest distance curve of the shock.