Research And Implementation Of Cooperative Motion Control Technology For Industrial Robots

The rapid development of automobile,electronic equipment,aerospace and other manufacturing industries has put forward higher requirements for the working mode of industrial robots as typical intelligent equipment in manufacturing industry.Cooperative working mode of multi-industrial robots can accomplish incompetent work of a single robot in a variety of applications,such as variable attitude arc welding,large workpiece handling and collaborative assembly.In this thesis,the cooperative motion control technology of industrial robots is studied in depth.Aiming at the closed-loop kinematics chain problem of multiple motion units in cooperative motion control,the kinematics model of single motion unit including robot and positioner is established firstly.The kinematics model of robot cooperative system based on master-slave relationship is proposed on the basis of analyzing the motion forms and constraints of multiple motion units.In order to obtain the relative position relationship of master-slave motion units in the model of cooperative system,the joint axis method suitable for the calibration of the base coordinate system of the positioner and the three-point "handshake" method suitable for the calibration of the robot base coordinate system are proposed.And the forward and inverse transformation formulas of the master-slave cooperative are derived.In order to realize cooperative motion control,cooperative motion interpolation algorithm and synchronous motion interpolation algorithm are designed.Aiming at the problem of smoothness of cooperative trajectory in cooperative interpolation algorithm,a transition method for cooperative trajectory based on Bezier spline is proposed.Aiming at the problem of multi-robot speed synchronization planning in cooperative interpolation algorithm,a synchronization speed planning method based on extended linkage axis for positioner and robot is proposed,as well as a synchronization speed planning method based on extended grouping for robot and robot.On the basis of trapezoidal acceleration planning,the speed planning methods based on the shortest time and the given time for multi-robot synchronous speed planning are studied in depth.With the developed cooperative control system of robots as the experimental platform and the developed off-line simulation software as the cooperative simulation platform,the calibration method of the base coordinate system and the function of cooperative motion control are tested.The correctness and feasibility of the cooperative motion control technologies such as the joint axis method,the three-point handshake method and the cooperative algorithm proposed in this thesis are proved.