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Operating method on basis of master-slave industrial robot collaboration

A technology for industrial robots and operations, applied in the direction of instruments, manipulators, manufacturing tools, etc., can solve the problem of high economic cost

Inactive Publication Date: 2016-07-13
SOUTH CHINA UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

For some complex operations, the economic cost of developing a single industrial robot with complex functions is far higher than that of an industrial robot collaboration system

Method used

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  • Operating method on basis of master-slave industrial robot collaboration
  • Operating method on basis of master-slave industrial robot collaboration
  • Operating method on basis of master-slave industrial robot collaboration

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0159] Embodiment 1——Collaborative Handling Experiment

[0160] The collaborative handling experiment is to first control the master-slave industrial robot to grab the target rigid body, then control the movement of the master industrial robot, and drive the slave industrial robot to coordinate with the master industrial robot to carry the rigid body together. The specific steps are as follows: ① Put the master-slave industrial robot ②Start the simulation and control software; ③Select the control mode (control mode and simulation mode) and cooperation mode; ④Control the main industrial robot to grab the steel rod; ⑤Control the slave industrial robot to grab the steel rod; ⑥Control the master-slave industrial robot to carry the steel bar to the target position; ⑦The master industrial robot and the slave industrial robot release the manipulator respectively; ⑧Reset both the master-slave industrial robot; When transporting a rigid body, choose a different path each time to reach ...

Embodiment 2

[0162] Embodiment 2——Collaborative assembly experiment

[0163] The collaborative assembly experiment is roughly divided into two steps according to its task decomposition, one is to grasp the target, and the other is to assemble. First, control two industrial robots to grab the shaft and hole (replaced by steel rod and sleeve here), and move the shaft and hole to the pre-assembly pose respectively, and then complete the shaft according to the size of the shaft hole and the assembly speed. Hole assembly task, the specific experimental steps are as follows: ① Select the control mode (control mode and simulation mode) and cooperation mode. ② Control the main industrial robot to grab the steel rod. ③Control the industrial robot to grab the rod cover. ④ The master and slave industrial robots move to the pre-assembly pose respectively. ⑤ Start assembling the shaft and the hole. ⑥ Put the assembled shaft hole in the target pose. ⑦ Both master and slave industrial robots are res...

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Abstract

The invention discloses an operating method on basis of master-slave industrial robot collaboration. The operating method comprises three parts of collaboration control, track planning and operation implementation, and aims to overcome the limitation of single industrial robot operation, to enable master-slave industrial robots to collaboratively complete a more complicated operation, and to enable the master-slave industrial robots to have higher autonomy, higher robustness and higher adaptability. The operating method is characterized in that a motion track of each of the master-slave industrial robots can be controlled by adoption of a collaboration control method, a track planning method and an operation implementation method according to position and gesture restriction relationships between the master-slave industrial robots, so that the master-slave industrial robots mutually collaboratively complete the monotonous, repeated and heavy operations of grabbing, carrying and assembling. The operating method on the basis of the master-slave industrial robot collaboration can be applied to an advanced manufacturing industry and a flow production line of the advanced manufacturing industry.

Description

technical field [0001] The invention relates to the technical field of robot operations, in particular to a master-slave-based industrial robot collaborative operation method. Background technique [0002] At present, people have higher and higher requirements for industrial robots, hoping that industrial robots can replace humans to do more and more complicated work. For this reason, people are eager to develop more complex and powerful industrial robots. However, the industrial robot itself is very complicated. If more functions are added to it, it will undoubtedly greatly increase the complexity of the industrial robot, and if many functions are integrated into an industrial robot, its reliability will be greatly reduced. If the efficiency is reduced, the efficiency will not necessarily be significantly improved, but it will increase the difficulties in the design, manufacture and maintenance of industrial robots. What's more, many tasks cannot be completed by a single ...

Claims

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Application Information

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IPC IPC(8): B25J3/00B25J9/16
CPCB25J3/00B25J9/163B25J9/1664B25J9/1694G05B2219/40519
Inventor 张健生肖南峰
Owner SOUTH CHINA UNIV OF TECH
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