Design Of Dual Robot Cooperative Communication Control System For Flexible Production Line

In this paper,the kinematics model of the dual robot system was established based on the DH method.The workspace of the robot was obtained by the Monte Carlo method.Considering the different motion ability of the robot in each direction of the workspace,the research on the motion flexibility of the Dual-Robot was carried out.A performance index which was simple in calculation and can effectively reflected the flexibility of coordinated motion of dual robots was proposed.After studying the kinematic constraints of the two coordinated motion modes of the dual robot system and the corresponding motion control laws,the flexibility was based on the flexibility.The task planning of the two-robot tight coordination letter drawing and the redundancy robot loosely assembled motor rotor and bearing was constructed.The effectiveness of the dual robot operability index and the correctness of the coordinated motion planning method were verified by MATLAB simulation and experiment.In the dual robot system,because the workspaces of the two robots overlap,when the two robots are path planning and optimization,there is no premise that the two robots collide.The collision detection model for constructing the dual robot system is collision avoidance.The premise of path planning,research on this problem mainly involves robotic simplified modeling and collision detection algorithms.In order to solve the collision problem that may occur when the two robots coordinate operation,this paper used the OBB bounding box to simplify the modeling of the robot model.Based on the separation axis theory,the collision detection was performed on the dual robot system based on the binary tree structure.On this basis,the collision avoidance path planning was carried out.The working grid interval was set in the Cartesian coordinate space,and the Dijkstra algorithm was used to plan the end collision path of the manipulator.The feasibility of the obstacle avoidance trajectory was verified by experiments.Finally,based on the flexible production line dual robot coordinated loading and unloading process provided by our graduate internship workstation-Shanghai Zhijiang Intelligent Technology Co.,Ltd.,this paper designed the dual robot coordinated communication control system.Siemens S7-1200 series PLC CPU 1214C was adopted.The control dual robot coordinated the material docking operation,and the PLC communicated with the robot control cabinet through the PROFIBUS field bus.On the basis of completing the hardware configuration of the system,the PLC I/O port required for programming was configured in the Portal,and the I/O port for communication with the robot was mapped into the KUKA robot control cabinet through Workvisual,and wrote a program to complete PLC control of the robot system,then used RobotArt robot offline programming software to simulate the coordinated docking operation of the two robots.The simulation results show that the motion planning method and control strategy adopted in this paper can realize the dual robot coordinated collision-free motion.