基于RTAI实时多线程的冗余双臂机器人轴孔装配方法研究  

Research on Peg-in-Hole Assembly for A Redundant Dual-Arm Robot Based on RTAI Real-Time Multi-Threading

作　　者：高强 赵江海 陈丹惠 赵子毅 

机构地区：[1]中国科学技术大学工程科学学院精密机械与精密仪器系,安徽合肥230027 [2]常州先进制造技术研究所,江苏常州213164

出　　处：《工业控制计算机》2018年第3期4-6,共3页Industrial Control Computer

摘　　要：针对双臂机器人在高速装配作业中对精确性以及灵活性的需求,首先从结构与通信两方面介绍了双臂机器人的设计架构,然后建立双臂机器人装配模型,并对装配工作空间与约束关系进行了分析,并在此基础上采用基于RTAI实时多线程的开发环境对双臂机器人轴孔装配工作进行任务分解、并发调度,完成双臂机器人装配过程的在线实时误差修正,最后通过装配实验验证了该控制策略比传统方法具有更高的装配精度和灵活性。This paper introduces the design of the dual-arm robot architecture from two aspects of hardware and communication.The work space and constraint relationship of the dual-arm robot during the assembly process are analysed,and the task decomposition of the assembly work based on the RTAI Real-Time Multi-threading is given.And by concurrent scheduling it completes the online error correction of the dual-arm robot during the assembly process.Finally,this paper verifies that the control strategy have higher precision and flexibility than traditional methods through assembly experiment.

关 键 词：设计架构 约束关系 RTAI实时多线程 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]