双机器人协调镜像对称运动的路径规划  

Path planning of dual-robot coordinated symmetric motion

作　　者：欧阳帆[1] 张铁[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：《高技术通讯》2013年第9期960-964,共5页Chinese High Technology Letters

基　　金：863计划(2009AA043901-3);广东省科技计划(2012B010900076);广东省省部产学研项目(2011B090400150);广东省战略性新兴产业(2011A091101001);中山市科技计划(2011CXY007)资助项目

摘　　要：根据目前在工业生产中比较常见的双机器人对称位置焊接和对称位置喷涂作业,提出了双机器人协调镜像运动的协调轨迹规划方法:首先对双机器人协调镜像运动进行坐标系建立和运动学分析,然后根据已知的主机器人路径获得从机器人协调镜像运动路径的生成方法,给出从机器人协调镜像运动轨迹生成的流程图。通过一个双机器人协调镜像圆弧运动实验,验证了上述方法的有效性。从机器人工具末端实际的笛卡尔空间协调镜像圆弧运动位置误差满足精度要求。A method for path planning of dual-robot coordinated symmetric motion is proposed according to the working requirements of current dual-robots for symmetric painting and welding in industrial environments. The method con- tains the steps below：firstly, establish the coordiante system and conduct the kinematics for dual-robot coordinated symmetric motion, and then, achieve the slave robot path generation for coordinated symmetric motion according to the path of the given master robot, and provide the slave robot＇ s process flowchart for coordinated symmetric motion path. The experiment on circular coordianted symmetric motion was implemented. The results indicated that the proposed method was effective and had a good accuracy.

关 键 词：双机器人 运动学分析 协调镜像运动 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]