Multi-robot Cooperative Control And Dynamic Deployment For Assembly Of Low Voltage Electrical Appliances

China’s low-voltage electrical products are rapidly developing towards integration and intelligence,resulting in increasingly complex tasks for low-voltage electrical installations.Traditional low-voltage electrical assembly lines work alone for a single robot,and the scope of work is limited,unable to meet the existing complex mission requirements.Conventional robot assembly does not consider the assembly trajectory of low-voltage electrical appliances,but it is an important factor in assembly quality and efficiency.In the traditional robot control system,the problems of heterogeneous equipment,compliance with private communication protocols,and lack of dynamic characteristics are prominent.Therefore,this paper studies the multi-robot time optimal trajectory planning,and develops a unified interface standard based on DPWS protocol to realize heterogeneous robots.The communication collaboration and the dynamic deployment of robotic devices and services provide technical support for improving the efficiency and security of low-voltage electrical assembly robots to perform complex tasks.The main work and results are as follows:(1)For the multi-robot collaboration problem,a single robot kinematics model is established according to the assembly robot parameters.The trajectory planning of joint space and Cartesian space is studied for different assembly task requirements.Then the master-slave control method is selected to establish the dual-robot coupled motion model,and the Monte Carlo method is used to analyze the collaborative workspace of the dual robot.(2)Aiming at improving the working trajectory of the robot and improving the working efficiency,the improved hybrid particle swarm optimization algorithm is used to solve the efficiency optimization problem.Compared with other classical algorithms,the superiority of all aspects of the algorithm is verified.Then the hybrid particle swarm optimization algorithm is applied to optimize the working trajectory of the assembly robot.Under the premise of ensuring the joint motion of the assembly robot is stable and satisfying various constraints,the time taken to complete the target motion trajectory is optimal,and the algorithm is verified by simulation.Optimize the effectiveness of robotic collaborative control problems.(3)According to the heterogeneous,adaptive difference,communication difficulties and other problems in the current assembly robot control system,the working principle of DPWS middleware is briefly described.The basic framework of dynamic deployment of robot service is constructed based on XML,SOAP and WSDL technologies.The overall control architecture of the low-voltage electrical assembly robot pipeline based on DPWS middleware is constructed.(4)Based on the dynamic deployment framework and the overall control architecture of the robot,build a software development environment,and use the DPWS protocol to design and implement the assembly robot peer and management end.Based on WSDL technology,the device service is implemented as a Web service interface,and functions such as service discovery,service hosting,and remote service invocation are implemented to implement peer-to-peer interoperability.The management side design implements the event publishing/subscribing function,monitors the status of specific robot devices in real time,and describes the dynamic deployment of robot devices and services through XML technology to describe device data and services,and improves the adaptive control of robot dynamic control.Finally,the visual interface design is carried out.The feasibility of the cooperative method based on hybrid particle swarm optimization algorithm and the robot control deployment software is verified by collaborative experimental data and system performance test.