Multi-agent Network Architecture And Control Method For Intelligent Assembly Of Low Voltage Electrical Apparatus

With the development of miniaturization and complexity of low-voltage electrical apparatus structure,the problems such as compact space,complicated procedure,various models and great manpower consumption are also highlighted in the assembly work.In the traditional automatic assembly line of low-voltage electrical apparatus,the function of each industrial robot is independent and repeating the mechanical assembly work,the heterogeneity of the robots also causes the poor communication flexibility and unstable connection.Therefore,it is of great value to construct multi-robot system for intelligent assembly of low-voltage electrical apparatus to realize stable,high-efficient,secure communication and cooperation among robots.In the process of cooperative control among robots,aiming at the traditional PSO algorithm is lack of convergence accuracy and easy to fall into local optimum,by introducing the neighbor environment and self-learning operation,the distributed multi-agent idea is applied to PSO algorithm,to solve the problem of the time optimal trajectory control of the robot under speed constraint.Based on the coupled motion model of two robots,and construct the fitness function by the rv-2f robot joint 4-3-3-4-spline function,the multi-agent particle swarm optimization(MAPSO)algorithm is used to solve the time optimal trajectory control of the dual-robot.The simulation results show that the joint angle changes smoothly,the angular velocity is continuous and the constraint conditions are satisfied,and the angular acceleration has no mutation,the effectiveness and feasibility of the proposed algorithm in solving the cooperative control problem of robots is verified.In the process of software development,aiming at the problems such as poor network communication flexibility,unstable connection and IP address insufficient support for dynamic events in traditional multi-robot system,this paper proposes the development of multi-robot system based on DPWS protocol.After the WSDL encapsulation of the robot data and service methods,using QT to develop user interaction interface,writing the client and server application software for multi robot system of low voltage electrical appliances intelligent assembly based on the DPWS protocol,which realizes the functions such as device discovery,device control and service invocation.The built-in TLS/HTTPS security suite guarantees the data integrity and security of robot network communication.Finally,through P2 P client level communication and the service scheduling,the stable,efficient and secure cooperative control between robots is realized.This paper studies the multi-robot network architecture and control method for the intelligent assembly of low-voltage electrical apparatus,after proposing MAPSO algorithm to complete the two-robot time optimal trajectory control,compiling the multi-robot system client and server for the intelligent assembly of low-voltage electrical apparatus,so that the function independent robot has the ability of automatic networking,service invocation,network security and so on.This paper provides theoretical and technical support for the integration of information and industrialization of low voltage electrical apparatus assembly.