引用本文: 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.
MENG Shi, DAI Xianzhong, GAN Yahui. Path Constraint Relation and Trajectory Teaching Method for Multi-Robot Cooperation System[J]. ROBOT, 2012, 34(5): 546-552,565.
 Citation: MENG Shi, DAI Xianzhong, GAN Yahui. Path Constraint Relation and Trajectory Teaching Method for Multi-Robot Cooperation System[J]. ROBOT, 2012, 34(5): 546-552,565.

Path Constraint Relation and Trajectory Teaching Method for Multi-Robot Cooperation System

• 摘要: 针对多机器人协作中末端位姿的相对运动，分析了其轨迹约束关系并据此提出了一种可行的示教方法．该方法首先分析了协作机器人之间的运动学约束关系， 根据协作机器人之间末端位姿的相对运动，将多机器人协作系统的运动模式分为耦合运动以及叠加运动2类．然后给出了这2种运动形式下， 主从机器人末端位姿在笛卡儿坐标系内的运动学约束方程并据此提出一种用于多机器人协作系统的轨迹示教方法，最后在搭建的双机器人协作焊接系统上， 验证了本文提出的约束关系及示教方法．

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.

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