Research On Motion Planning And Simulation Of The Dual-robot's Coordination

With the progress of society and the development of science and technology,robots are increasingly used in various aspects of industrial production.The use of a single robot and the coordinated operation of the robot and the positioner have the disadvantages of small workable range,poor operability and poor compliance,and cannot meet increasingly complex tasks.The coordinated operation of two robots or even multiple robots can effectively solve these production problems,and their application prospects are even broader.The research of coordinated control based on dual robots and the promotion of its technology have become one of the problems that are urgently needed in today's production.This paper takes two six-degree-of-freedom industrial robots as the research object,makes a deep research on the calibration method,collision detection,coordinated trajectory planning,velocity matching and kinematics analysis of the dual robot system,and carries out simulation experiments on the work task.To verify the correctness of the results.The main research contents of this article are as follows:Based on the D-H method,the kinematics model of the IRB1600 robot is established,the positive and negative kinematics of the robot is derived,and a method to quickly find the inverse solution is given.Calibration is the premise of the coordinated motion of the two robots.The relative pose between the two robots' base coordinates can be obtained through calibration.The calibration method based on the space pro jection method was used to perform dual robot calibration experiments.The sources of the errors were analyzed and the white noise was used to simulate the interference and the calibration results were corrected.This method does not require the use of pre cision instruments.It is easy to operate,the accuracy of the theory and the precision after adding the interference are high,and it can meet the actual production needs.Collision detection is a safety guarantee for coordinated motion of dual robots,which can avoid collision accidents.A dual robot simplified model was established,and it was determined whether the robot collided by calculating the shortest distance between the geometric units.Use Matlab to calculate the collision start and end times f or a collision experiment.The Adams dynamic model was established,and the contact force was applied to the two robots' arm and the collision simulation was performed to obtain the collision time,thereby verifying the algorithm result.The key to the coordinated motion of the dual robots lies in the trajectory planning of the robots.The two robots need to maintain a coordinated relationship at all times to jointly accomplish the specified tasks.Coordinated movement tasks were used to study the coordinated motion of dual robots.Coordinated relative movements of dual robots were studied by coordinating writing,coordinating circle drawing,and coordinating welding tasks.The main robot adopts the teaching method to obtain the end trajectory.According to the coordination of kinematics relationship,the trajectory of the robot is obtained by using Matlab,and is converted into the ABB robot running program.At the same time,analyze the smoothness of the robot's joints.Finally,the robotstudio off-line programming software was used to simulate the motion trajectory of the four work task planning.Observing the simulation process,we can see that the master-slave robot maintains the coordination relationship at each subdivided run trajectory point.After using the speed matching strategy,the total simulation running time of the two robots is relatively close,indicating that the synchronization effect is better.Because the off-line programming software is equivalent to the actual situation,it shows the correctness of the trajectory planning results.