Study On Technology Of Dual Industrial Robots Coordination

With the application of robots in different fields,it is becoming increasingly difficult for us to adapt to the needs of modern industry with the single robot.In order to cater to the complexity of this task,intelligent operation and system flexibility and other requirements,issues pertaining to the dual-robot or multi-robot coordination work have to be dealt with in the process of application.Based on the study of two industrial robots,this thesis aims to do some research on the key technologies of the dual-robot system,including the optimization of a single robot motion control,the check of dual-robot collision and its coordination strategy.According to the requirements of off-line programming software,this thesis aims at finding the defects of the single robot motion control process and completing the optimization.In view of the complexity of the application environment and aiming at implementing the function of generating the robot code which based on the workpiece coordinate system,the graphic method is adopted to establish the mathematical model of the robot work space,finishing the detection whether the robot can reach to the certain point.According to the geometric characteristics of the robot,this thesis proposes an approach that based on the structural dynamic plane to solve the joint properties and to study the chosen solution algorithm that based on the geometric constraint.This approach is simple yet with better applicability.The optimized motion control process is therefore more suitable for the off-line programming software.Dual-robot might be prone to collision during the operational process.In order to solve this problem,this thesis analyzes the accuracy and fastness of different primitives modeling methods and puts forward the modeling method based on capsule and sphere primitive to complete the task of simplifying the complex parts.The Lagrange augmented multiplier method is used here to optimize the shortest distance of the capsule body,achieving the afore-mentioned goal of collision detection process.Through analyzing the characteristics of the dual-robot coordinated movement,this thesis puts forward the pose relationship between the double robots based on the method of workpiece calibration,completing the analysis of kinematics constraints with the relevant domain technologies.It also establishes two different coordination strategies for coordinated handling and coordinated spraying,thus completing the kinematic chain decoupling of the dual-robot system.On this basis,two models of automatic generation algorithm from the robot motion path are realized,ensuring the applicability and effectiveness of the dual-robot coordination movement strategy.Based on the above research,the off-line programming software is developed so as to realize the motion control algorithm of the single robot.The feasibility of those technologies is also verified by the correlation test of the dual-robot motion control algorithm.