Double-robot-movement control method

Abstract

The invention discloses a double-robot-movement control method, a controller, a storage and an operation system. The double-robot-movement control method comprises the following steps that a master robot and a slave robot are separately calibrated; the movement control on the master and slave robots is separately demonstrated; the moving trajectories of the master and slave robots are planned; relations between postures of trajectory spots on the moving trajectories of the master and slave robots and time are acquired; the trajectory spots on the moving trajectories of the master and slave robots are inversely solved according to the relations between the trajectory spots and time; and moving control commands for shafts of the master and slave robots are separately obtained. By adopting the double-robot-movement control method, on-line demonstration programming of the master and slave robots through a demonstrator is realized; demonstrating difficulty of the double robots is greatly lowered; besides, the method can be realized with a single controller, so that a communication process between the master and slave robots is omitted; synchrony of starting and stopping control of the master and slave robots in time is ensured; the probability of communication failure is lowered; and the space utilization rate of a robot control cabinet can be improved.

Description

technical field [0001] The invention relates to a motion control technology for double robots to coordinate and track CP (Continuous Path, continuous trajectory), in particular to a motion control method for double robots. Background technique [0002] At present, in the application process of industrial robots, each station mostly uses a single type of robot to work independently, and each robot must be equipped with an independent controller and driver. With the continuous expansion of the application range of robots, this type of It is difficult for a single robot to work independently to meet many complex application environments. In order to use robots to complete more complex tasks, multi-robot coordinated control has become one of the current research hotspots. [0003] Most of the existing robot cooperative control uses a separate controller, and the off-line programming method is implemented separately, that is, the trajectory of the master robot can be controlled t...

AI Technical Summary

Problems solved by technology

This method has high control costs, low flexibility, and relatively high quality requirements for application engineers. It is difficult to absolutely guarantee the simultaneous control based on coordinated motion by configuring controllers separately, and it will occupy the space of the control cabinet.

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