机器人2012，Vol.34Issue(5)：546-552,565,8.DOI:10.3724/SP.J.1218.2012.00546
多机器人协作系统轨迹约束关系分析及示教方法
Path Constraint Relation and Trajectory Teaching Method for Multi-Robot Cooperation System
摘要
Abstract
Based on the relative motion between the pose of cooperated multi-robot end-effectors, the trajectory constraint relation of the cooperative robots is analyzed and a practicable teaching method is proposed. Firstly the method analyzes the kinematic constraint relation between the cooperative robots. According to relative motions between cooperative robot end-effectors, cooperative motion can be divided into two types, coupled motion and superposed motion. Then, the kinematic constraint relation equation of the pose of master-slave robot end-effectors in the Cartesian coordinate system is given in the two motion types. Based on the constraint equation, a trajectory teaching method for multi-robot cooperation system is proposed. Finally, two-robot cooperation system for welding is set up, using which the constraint relation is testified and the teaching method proposed is validated.关键词
多机器人协作/轨迹约束/示教/协作焊接Key words
multi-robot cooperation/ trajectory constraint/ teaching/ cooperative welding分类
信息技术与安全科学引用本文复制引用
孟石,戴先中,甘亚辉..多机器人协作系统轨迹约束关系分析及示教方法[J].机器人,2012,34(5):546-552,565,8.基金项目
国家自然科学基金资助项目(61175113) （61175113）
国家863计划资助项目(2009AA043903-1-1,2007AA041703) （2009AA043903-1-1,2007AA041703）
江苏省科技成果转化项目(BA2007058) （BA2007058）
江苏省普通高校研究生科研创新计划项目(CX10B_076Z). （CX10B_076Z）
