基于任务优先级选择方法的双机器人协调联控研究  

Research on Coordination Control of Dual-robot Based on Task Priority Selection Method

作　　者：何彬彬 黄青丹 宋浩永 饶锐 HE Binbin;HUANG Qingdan;SONG Haoyong;RAO Rui(Guangzhou Power Supply Bureau Electric Power Test & Research Institute,Guangzhou Guangdong 510410,China)

机构地区：[1]广州供电局有限公司电力试验研究院,广东广州510410

出　　处：《机床与液压》2020年第15期59-61,170,共4页Machine Tool & Hydraulics

基　　金：南方电网公司科技项目(GZHKJXM20160055)。

摘　　要：针对双机器人交互工作需求,提出一种协调联控运动规划方法。在分析人工操作的基础上,设计机器人自动实验流程;根据作业要求,在不考虑机器人相互冲突的情况下,使用离线编程方法规划出机器人与静态环境间的无碰撞路径;基于任务优先级选择方法,协调控制机器人的路径执行次序;通过色谱检测机器人平台进行试验,结果表明所设计的方法能有效保证双机器人的协调无碰撞运行,成功率为100%,效率提高约26%。Aimed at the interactive work requirements of dual-robot,a coordination control motion planning method was proposed.Based on the analysis of manual operation,the automatic experiment flow of the robot was designed;according to operation requirements,the collision-free path between the robot and the static environment was planned by using off-line programming method without considering the conflict between robots and the static environment;the path execution order of the robot was coordinately controlled based on task priority selection method.The experiment was carried out on the chromate graphic detection robot platform.The results show that by using the designed method,the coordinated collision-free operation of the dual-robot can be effectively ensured,the success rate is 100%and the efficiency is improved about 26%.

关 键 词：双机器人 协调控制 任务优先 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]