Trajectory control system and method for multiple robots

Abstract

The invention discloses a trajectory control system and method for multiple robots. The trajectory control system comprises an upper controller for solving a rotation angle-time curve according to a received numerical control instruction, a bus coupler for sending the rotation angle-time curve to a lower robot controller and the lower robot controller used for completing the driving of joints andend effector motors of the robots according to the received rotation angle-time curve. The trajectory control system and method can be used for cooperative control over the multiple robots, can significantly improve the movement flexibility and control precision of the robots compared with a traditional multiple-robot control system, and improve the flexible automation level of the robot control.

Description

technical field [0001] The invention belongs to the technical field of multi-robot collaborative control, and in particular relates to a trajectory control system and method for multi-robots. Background technique [0002] With the increase of my country's demand in the field of major structural parts manufacturing, its high-precision and high-flexibility manufacturing characteristics pose new challenges to processing equipment. For example, a large sealed cabin structure with a diameter of more than 3 meters and a length of more than 10 meters needs to be processed as a whole in order to ensure that its function and accuracy meet the requirements of the design specifications. Existing machine tools are difficult to meet the requirements of the processing range. Efficient and high-precision manufacturing of large components has become a It is the main bottleneck restricting the development of my country's high-end manufacturing industry. [0003] The mobile hybrid processing ...

AI Technical Summary

Problems solved by technology

[0005] The problem with the above method is that the upper controller cannot know the actual trajectory of the robot. The first method can only download the motion program to the robot controller in advance. If you need to change the trajectory of the robot, you need to reprogram and download a new motion program, although the second method completes the control of the robot’s moving target point, since the state of the robot during the movement to the target point cannot be known, the accuracy of the motion trajectory is completely determined by the robot controller, and the synchronization of the motion trajectory of each robot is relatively low. Poor, at the same time the interpolation step and speed are different, which will easily cause the two robots to collide during the movement

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