双机器人协调跟随运动的运动学分析与路径规划  

Kinematics Analysis and Path Planning of Dual-robot Coordinated Couple Motion

作　　者：张铁[1] 欧阳帆[1] 

机构地区：[1]华南理工大学机械与汽车工程学院,广州510641

出　　处：《上海交通大学学报》2013年第8期1251-1256,共6页Journal of Shanghai Jiaotong University

基　　金：国家高技术研究发展计划(863)项目(2009AA043901-3);广东省科技计划项目(2010A011200019);广东省省部产学研项目(2011B090400150);广东省战略性新兴产业项目(2011A091101001);中山市科技计划项目(2011CXY007)

摘　　要：针对双机器人变姿态协调跟随运动路径生成方法,提出了从机器人变姿态协调跟随运动路径离线生成的更换工具坐标系方法.给出了双机器人协调跟随运动的运动学约束分析,描述了变姿态协调跟随运动中从机器人工具末端路径生成的方法和步骤,搭建了双机器人变姿态协调跟随运动的实验平台.最后通过双机器人变姿态直线和圆弧协调跟随运动实验,证明了所提出方法的有效性.This paper focused on the path planning of dual-robot coordinated couple motion when the tool end posture changed during the process of coordination. The method of replacing tool coordinate system of slave robot was proposed for offline slave robot path generation. The kinematics constraints analysis was presented at the beginning; then the steps and flow chart of the proposed method were illustrated; after that, a dual-robot experimental platform was estalbished; finally, the linear and circular coordianted couple motion with posture change were implemented. The analysis of results indicates that the proposed method, effective and accurate.

关 键 词：双机器人 运动学分析 协调跟随运动 路径规划 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]