双工业机器人协调复杂作业实验研究  

Experimental Study on Coordination of Two Industrial Robots Carrying out Complex Tasks

作　　者：黄亚楼[1] 徐国华[1] 汤宇松 卢桂章 

机构地区：[1]南开大学计算机与系统科学系

出　　处：《高技术通讯》1998年第2期33-37,共5页Chinese High Technology Letters

基　　金：863计划资助项目;天津自然科学基金

摘　　要：就双机器人搬运刚体之外的复杂作业提出了面向操作物的运动描述与规划方法，以及适应于工业机器人系统的基于关节位置控制的协调控制策略。在两工业机器人协调系统上实现了相关多轴孔装配、复杂工件边缘跟踪、弹性体操作与装配作业实验。For complex tasks except for carrying a rigid object with two robots, object motion oriented motion description and trajectory planning method is presented, which is suitable for almost all tasks for two robots. Coordination control for two industrial robots is designed and implemented. Experiments including multiple related peg into lole assembly, complex edge tracking, manipulation and assembly of flexible objects, are conducted on two industrial robots.

关 键 词：双机器人协调 复杂作业 运动规划 

分 类 号：TP242.206[自动化与计算机技术—检测技术与自动化装置]