引用本文: 赵志刚, 吕恬生. 多机器人协同吊运系统的协调动态载荷分配[J]. 机器人, 2012, 34(1): 114-119.
ZHAO Zhigang, LÜ Tiansheng. Coordinated Dynamic Load Distribution for Multi-Robot Collaborative Towing System[J]. ROBOT, 2012, 34(1): 114-119.
 Citation: ZHAO Zhigang, LÜ Tiansheng. Coordinated Dynamic Load Distribution for Multi-Robot Collaborative Towing System[J]. ROBOT, 2012, 34(1): 114-119.

Coordinated Dynamic Load Distribution for Multi-Robot Collaborative Towing System

• 摘要: 针对多机器人共同吊运同一个物体形成闭运动链的协调系统，利用用牛顿-欧拉法建立了系统的广义动力学方程．研究了多机器人协调吊运系统动态载荷的一种实时性分配方法．根据各机器人的承载力，用线性加权方法使被吊运物质心处的内力有限并获得了系统的载荷分配原则．随后根据被吊运物的期望运动，给出了系统动态载荷分配的解析表达式，并进而可计算得到各机器人的期望工作载荷．最后，采用ABB工业机器人搭建吊运平台，实验验证所获得的载荷分配方法．研究结果为进一步研究多移动机器人协调吊运系统的载荷分配问题打下基础．

Abstract: A closed-kinematic chain composed of multi-robot manipulators used to tow a common object is presented. The generalized dynamic equation is given by use of the Newton-Euler principle,and an efficient real-time dynamic load distribution method is studied for the multi-robot collaborative towing system.Subject to the bearing capacity of each robot manipulator,the load distribution principle for the system is given by a linear weighting algorithm that can make the internal force on the mass center of the object limited.Subsequently,according to the expected trajectory of the object,the analytical formulation of the dynamic load distribution for the system is attained,and the expected operating force of each robot manipulator is calculated and obtained.Finally,three ABB robot manipulators are used to build a towing stand,that can validate the proposed load distribution method.The results can serve as the foundation for further research on load distribution problem of mobile multi-robot collaborative towing system.

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