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[J]. ROBOT, 2002, 24(5): 451-455.
Citation: 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[J]. ROBOT, 2002, 24(5): 451-455.

KINEMATIC ANALYSIS AND APPLICATION OF A HUGE WORKPIECE HANDLING SYSTEM BASED ON MULTI-ROBOT COORDINATION

  • 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.
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