Design Of A Cooperative Control System For Dual Robots With Soft Cushion And Flexible Wrapping

In the process of soft cushion flexible package production,it is difficult for single robot operation to cover all the procedures,and the labor cost is high,the production efficiency is low,the package quality is unstable,and the popularity of multi-machine cooperation system is not high.Therefore,aiming at the key processes in the production of soft cushion flexible packaging,the collaborative control of dual-robot is adopted,and the purpose of collaborative packaging production is achieved by carrying out the kinematic modeling and analysis of dual-robot system,the design of dual-robot cooperative control system and the multi-stage trajectory planning of dual-robot system.Taking YASKAWA GP series industrial robots GP12 and GP25 as the research objects,the D-H parameter method was used to establish the model.The end-pose and joint variables could be solved through forward and inverse kinematics,and the model was established by using Matlab to write the object program.And the Robotics Toolbox was used to solve the working space of the dual robot system to prevent collision.Aiming at the cooperative production strategy of double robots used in the key processes of soft cushion flexible parcel,a cooperative control system of double robots was designed.S7-1200 PLC was used to control the double robots to complete the key processes of spraying glue,handling and discharging of soft cushion.Communication between PLC and robot control cabinet was established to complete the hardware configuration.In the Portal to complete the PLC I/O port configuration,write a program to complete the robot and subsystem control.Then,the trajectory planning of the industrial robot is carried out,the multi-stage trajectory transition method is proposed for the multi-stage trajectory planning,the encircle box is built to complete the model collision detection,the traditional artificial potential field method is analyzed and improved,the improved artificial potential field method is used to complete the collision avoidance path planning of the robot arm,the arc transition is used to complete the adjacent trajectory transition,and the S-shaped velocity curve is used for interpolation.The interface model of adjacent trajectory segments is established and the speed constraint is completed.Finally,the simulation analysis is carried out in Matlab environment,in which the multi-segment path can complete the multi-segment trajectory planning through the arc model transition.The trajectory execution time of the spray trajectory algorithm adopted in this paper is about 48.2%shorter than that of the traditional algorithm.At the same time,the actual execution effect of the spray trajectory combined with the transition strategy in this paper is about 7s.Compared with the traditional production method,this method improves the production efficiency.