基于二次分析的双机器人避碰方法研究  

Study on Collision Avoidance Methods of Dual-Robot System based on Secondary Analysis

作　　者：姚世选 刘永健 崔泽 刘小臣 YAO Shixuan;LIU Yongjian;CUI Ze;LIU Xiaochen(College of Software,Dalian University of Foreign Languages,Dalian 116044,China;School of Mechanical Engineering,Dalian Jiaotong University,Dalian 116028,China)

机构地区：[1]大连外国语大学软件学院,辽宁大连116044 [2]大连交通大学机械工程学院,辽宁大连116028

出　　处：《大连交通大学学报》2021年第5期95-99,共5页Journal of Dalian Jiaotong University

基　　金：国家科技支撑计划资助项目(2015BAF20B02)。

摘　　要：针对机器人系统协同加工中存在的碰撞问题,以双机器人系统为例,提出一种适用于多机器人系统平面加工的避碰研究方法.使用栅格法对加工任务进行离散化表达,将加工平面以设色图的形式展现出来,建立碰撞分析模型,分析出每个任务点的协同加工碰撞情况,基于时间最短和路径连续原则,规划得到双机器人平面协同加工的方法.通过对案例的仿真分析,验证了方法的可行性.The dual-robot system is taken as an example to address the collision problem in collaborative pro-cessing of robot systems,and a collision avoidance research method suitable for multi-robot system planar pro-cessing is proposed.The grid method is used to discretely represent the processing tasks,and the processing plane is displayed in the form of color maps.A collision analysis model is established,and the collaborative processing collision situation of each task point is analyzed.Based on the principle of shortest time and the principle of continuous path,a method for coordinated machining of two robot planes is planned.The simula-tion analysis of the case verifies the feasibility of the method.

关 键 词：二次分析 栅格法 多机器人系统 协调避碰 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]