Dual Robot Cooperative Automatic Drilling And Riveting Control Method And Application

Along with the development tide of “intelligence” and “high-tech” in the world today,the industrial robot industry is developing rapidly,and its requirements for robot technology are becoming higher and higher.However,the single robot system has certain limitations due to its own processing range and working efficiency,and it is difficult to meet the requirements of increasingly complex processing tasks.Therefore,the dual robot technology has emerged in line with the trend and quickly become a hot technology research topic in the robot industry.In this paper,aiming at the above problems,the collaborative control method of dual-robot is studied in depth and applied to automatic drilling and riveting system.The overall integrated control scheme of the dual robot cooperative automatic drilling and riveting system is proposed,and the system software and hardware configuration is optimized.The dual-robot kinematics coordinated motion path planning method is described in detail by establishing a multi-coordinate system.Based on this,the industrial robot positioning accuracy compensation method is used to analyze and demonstrate the dual-robot cooperative precision control technology,and a feasible control scheme is proposed.Finally,the above methods and techniques were verified by relevant experiments.The main work done in this paper is:(1)The control scheme of the dual robot collaborative automatic drilling and riveting system was designed.Starting from the functional requirements of the dual robot system,the structure and workflow of the whole system are described.The overall integrated control scheme is designed and the system hardware and software configuration is constructed.(2)The dual robot cooperative motion path planning method is researched.A kinematics model is established for industrial robots,and a calibration method for the dual-robot base coordinate system is proposed.And on this basis,two typical two-robot kinematics coordination methods are studied in depth,that is,the dual robot kinematics cooperative follow-up and collaborative mirror motion.This method can realize the off-line generation of the coordinated motion trajectory of the auxiliary robot according to the teaching information of the main robot,so as to realize the coordinated motion control of the dual robot.Finally,the above method is experimentally verified.(3)The dual robot cooperative motion control method is researched.Aiming at the synchronization problem of the dual robot cooperative motion,the detailed analysis is carried out,the position and attitude precision control technology of the coordinated motion of the dual robots is deeply studied.The multi-coordinate system is established,and the robot positioning error is compensated.The product position error is compensated by benchmark detection,and the terminal attitude error is compensated by normal detection.According to the dual robot cooperation mechanism,the dual robot cooperative precise location and attitude determination is realized.Finally,the dual robot cooperative interaction control technology is discussed,and the collaborative precision experiment is carried out.(4)The dual robot cooperative drilling and riveting system was verified by experiments.Based on the experimental verification platform of the dual-robot collaborative automatic drilling and riveting system,the double-robot collaborative hole making and single robot one-way hole making experiment was completed.The electromagnetic riveting system was introduced in detail,and the experimental platform of two-way electromagnetic riveting integrated system was further constructed.The dual-robot collaborative drilling riveting and non-cooperative drilling riveting experiments were carried out,and the experimental results were analyzed in depth.