| The Long-Range Objectives Through the Year 2035 put forward unswervingly building a strong manufacturing country and quality country.Industrial robots are essential automation equipment in manufacturing and processing industries,but in the face of complex and flexible tasks,a single robot has been unable to meet the needs of intelligent manufacturing,and two or more robot systems with closed-loop kinematic chains can meet these requirements.At the same time,the coordinated control of multi-industrial robot systems has become a technical problem at this stage,and it is also one of the research hotspots in the field of robots.In the face problems of accuracy and practicability in space position calibration and trajectory coordination of dual-robots.In this paper,two six-axis series industrial robots are taken as the research object.The relationship between the base coordinate system of the two robots and the key problems of robot coordination in the face of different tasks are studied.The main contents of this paper are as follows:Establishing a single robot kinematics model,and on this basis establishing a mathematical model of the dual-robot coordination system.The forward and inverse kinematics model of JLRB8-600 robot is established,and the correctness of the model is verified by MATLAB;In this paper,Monte Carlo method and traversal search comparison method are used to find the common workspace of the dual-robots and determine the relative position of the dual-robot in the space.The article also analyzes a variety of motion forms and control methods,and selects the master-slave method to control the motion of the dual robots,and establishes the coordinated motion model of the dual robots regardless of the task type.In this paper,an economical and practical calibration method for the base coordinate system of dual-robots is proposed and verified.Aiming at the problems of cumbersome operation,complex process and expensive auxiliary equipment of dual-robot base coordinate system at the present stage,this paper proposes an improved calibration method of dual-robot base coordinate system based on “three-point fixed circle”,and expounds the principle and steps of this method.The possible interference in the calibration process is analyzed,and the observation error and the encoder interference error are introduced,and experiments are set to verify the correctness and accuracy of the calibration method in the case of no error and interference error.The results show that the proposed calibration method is not only simple and low cost,but also can meet the accuracy requirements,and has practical significance.This paper design a dual-robot coordinated motion trajectory planning method,and preliminarily verify the feasibility of the method.The key to the coordinated motion of dual-robots is whether the trajectory of the robot meets the task requirements.This paper divides the task into tight constraint motion and loose constraint motion,and analyzes and designs the trajectory planning principles and methods of the two motions.In the tightly constrained motion of dual robots,since the constant attitude trajectory planning method of straight lines and arcs is only considered in the literature,this paper deeply studies the accuracy of the trajectory of endpoints and interpolation points when the position and attitude change.Taking handling and writing as examples.Finally,dual-robot coordinated motion simulation platform based on multi-software is built,and experiments are designed to further verify the proposed algorithm.The experimental platform is built by using the advantages of multi-software in different aspects,and the dual-robot calibration algorithm and coordinated motion algorithm with complicated conditions are verified in the platform.The results show that even in the face of complex positions and trajectories,the robot can still maintain correctness and accuracy,which proves that the proposed method has good effectiveness and adaptability. |
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