Design Of Control System For Two Robots Coordinated Handing Glass

Recently,automation and information as well as intellectualization in the modern manufacturing industry have developed very fast.The wide use of industrial robots has partly accelerated the tendency.However,when confronted with complicated operation such as carrying the weights with large size or flexibility,single robot can't complete it very well.The technique of multi-robot coordinated working can effectively solve the problem,which has been paid more attention on.This thesis concentrates on the core problems in the coordination of dual robots' carrying,and completes the software and hardware design in the control system.The analysis of kinematics for single robot was proposed.The kinematical model was built according to structure characteristic of single robot which played a role in the dual-robot system.The forward/inverse kinematics was accomplished and the reachable workspace of robot was analyzed.Based on Newton-Euler method,the robot was analyzed on dynamics.The constraints and trajectory planning for dual-robot coordinated working was analyzed.The requirements for position and velocity in the dual-robot system were restricted.On the basis of these restrictions,cubic spline curve was used to plan the trajectory in the joint space and Cartesian space.Simulation on the trajectory planning was conducted via MATLAB,and then the planning differences between joint space and Cartesian space was compared.The calibration for base coordinate system and compensation for terminal force were studied.The technique of calculation for dual-robot base coordinate system was analyzed.It was important to select proper laser tracker to calibrate the base coordinate system and install according to the robotic structure.The error resource of internal force was investigated.A robot with plane three connecting rods was adopted.It produced force error in the vertical direction of motor level when consistently carrying weights,so a flexible device with single-freedom motion was installed in the wrist to mechanically compensate the error.There was allocation error for loading in the motion plane.The error could be reduced by impedance control that adding a force feedback loop to the outer ring of system made compensations for joint position.The software and hardware for dual-robot control system were designed.According to practical demands,hardware for control system was chosen and electronic drawings were completed.Besides,function requirements were divide into different parts on the level analysis of control system.Finally,software interface and program for movement control were accomplished.In conclusion,the thesis was aimed at control design for dual-robot system.The kinematic constraints and trajectory planning for dual-robot coordinated working were investigated.A device with h single-freedom motion and impedance control in Cartesian space were adopted to make compensations for force errors existing in the terminal.At last,software interface and program for movement control in the single-robot and dual-robot systems were accomplished.