多机器人协作技术分析及其实验系统设计  

Analysis and experimental design of multi-robot cooperation

作　　者：孟庆鑫 李平[2] 郭黎滨[1] 王立权[1] 

机构地区：[1]哈尔滨工程大学机电工程学院,哈尔滨150001 [2]哈尔滨工程大学自动化学院,哈尔滨150001

出　　处：《制造业自动化》2004年第11期43-47,共5页Manufacturing Automation

摘　　要：多机器人协作问题已成为机器人学研究领域的热点之一,本文在综合了大量文献的基础上,对多机器人尤其是双机器人协调作业系统的研究现状进行了详细的分析。针对双机器人协调任务的特点,着重在无碰撞规划、协调控制策略等方面进行了讨论。根据所研究的具体对象搭建了基于Motoman的双机器人实验系统,为今后进一步开展多机器人协作相关问题的研究打下基础。Multi-Robot cooperation has become one of the focuses in robotic research. On the basis of synthesis in massive documents, the state of art of multi-robot system is analyzed care- fully, especially that of two-robot coordinative system. In view of the characteristics of two- robot coordination, the problems such as collision-free planning and coordinative control algorithm are discussed in detail. According to the concrete study, an experimental system that consists of two Motoman robots has been built, which is helpful for future research on multi-robot cooperation.

关 键 词：多机器人协作 双机器人协调 无碰撞规划 协调控制策略 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]