多机器人协作无夹具焊接系统设计  

Design of a Jigless Welding System by Multiple Robots Cooperation

作　　者：甘亚辉[1] 戴先中[1] 

机构地区：[1]东南大学自动化学院,复杂工程系统测量与控制教育部重点实验室,江苏南京210096

出　　处：《控制工程》2013年第3期397-403,共7页Control Engineering of China

基　　金：国家高技术研究发展计划(863计划)项目(2007AA041703);江苏省科技成果转化项目(BA2007058);江苏省普通高校研究生科研创新计划项目(CX10B_076Z);东南大学优秀博士学位论文基金资助

摘　　要：与传统的单机器人系统相比,多机器人协作系统的设计存在诸如协作机器人之间的基坐标系标定、协作机器人末端位姿间的运动协调以及多机器人系统间的同步通讯控制等若干特殊性的关键问题。在初步论述多机器人协作系统设计中的若干问题的基础上,特别针对协作机器人间的基坐标系标定、工具手位姿约束分析和控制器通讯同步3个问题,进行了深入讨论,并介绍了实验室相关研究工作的结论。基于本文提供的解决方法,利用VA1400弧焊专用机器人和HP20通用型机器人基于主从式的分布控制结构组成了无夹具焊接实验系统,初步验证了提出的各问题解决方法的有效性。Design of a jigless welding system by multiple robots cooperation is proposed. Compared with the single robot system, a multiple robots cooperation system encounters some particular but critical problems, such as the base frame calibration for cooperated robots, motion coordination and communication synchronization control. Such problems have been explored and basic conclusion in our research for solutions of each of them is presented. Based on the master - slave architecture, a distributed controller has been designed to realize the cooperation after the above problems deeply explored. A real experiment testbed for jigless welding composed of an arc welding robot VA1400 and a general purpose robot HP20 is being under construction in our lab. The preliminary experiment results have verified the effectiveness of our methods.

关 键 词：多机器人协作 无夹具 基坐标系标定 运动协调 同步通讯控制 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]