基于多机器人协调的船体分段对接系统的运动学及对接精度研究  

STUDY OF KINEMATICS AND MERGING PRECISION OF A SHIP BLOCK MERGING SYSTEM BASED ON MULTI-ROBOT COORDINATION

作　　者：景奉水[1] 谭民[1] 侯增广[1] 梁自泽[1] 王云宽[1] 

机构地区：[1]中国科学院自动化研究所,北京100080

出　　处：《机器人》2002年第4期324-328,共5页Robot

基　　金：国家"8 6 3"计划资助项目 ( 992 1-0 3)

摘　　要：本文研究了基于多机器人协调的船体分段对接系统的运动学和对接精度问题 .根据船体分段对接工艺特点 ,提出了机器人的轨迹规划算法和对接控制方案 .在此基础上 ,讨论了几种误差因素对系统对接精度的影响 .理论分析和仿真结果都表明 ,在对接平台结构尺寸存在显著误差的情况下 ,采用本文提出的方法仍可以保证船体分段对接精度 .This paper has studied the kinematics and the precision of a ship block merging system based on the multi-robot coordination. In coordination with the characteristics of the blocks merging technology, the boat blocks trajectory planning method and merging control scheme were presented. After that, we discussed a number of error factors, which may affect the system precision. The simulation results and theoretical analysis show that, the merging system's precision can be guaranteed with the proposed methods even there are significant dimensional errors of the system structure.

关 键 词：船体分段对接系统 运动学 对接精度 多机器人协调 移动机器人 

分 类 号：U66－39[交通运输工程—船舶及航道工程] TP242[交通运输工程—船舶与海洋工程]