Abstract：This paper studies the application of multi-robot coordination system in machining of huge cylindrical workpieces. The structure and coordination method of the workpiece's 6 DOF adjustment is presented, which is based on the coordination of multiple 3 DOF mobile robots. Assuming the workpiece as a rigid body moving in small displacement, we build the kinematics model and the inverse algorithm of the system, and also, a simplified algorithm, which is applicable for real time trajectory planning. Finally, A numerical example is provided to illustrate the inverse algorithm.
王跃, 谭民, 景奉水, 侯增广. 多机器人协调操作大型物体的运动学分析及应用[J]. 机器人, 2002, 24(5): 451-455.
WANG Yue, TAN Min, JING Feng-shui, HOU Zeng-guang. KINEMATIC ANALYSIS AND APPLICATION OF A HUGE WORKPIECE HANDLING SYSTEM BASED ON MULTI-ROBOT COORDINATION. ROBOT, 2002, 24(5): 451-455.
