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A motion planning method and system for dual-robot collaboration

A dual-robot and motion planning technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of low efficiency and feasibility of dual-robots, reduce the workload of teaching, facilitate teaching, functions and maintenance. Effect

Active Publication Date: 2021-07-13
FUZHOU UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Therefore, it is very low in efficiency and feasibility to apply the above-mentioned action-level teaching method to dual robots.

Method used

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  • A motion planning method and system for dual-robot collaboration
  • A motion planning method and system for dual-robot collaboration

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Embodiment Construction

[0029] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0030] It should be pointed out that the following detailed description is exemplary and is intended to provide further explanation to the present application. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

[0031] It should be noted that the terminology used here is only for describing specific implementations, and is not intended to limit the exemplary implementations according to the present application. As used herein, unless the context clearly dictates otherwise, the singular is intended to include the plural, and it should also be understood that when the terms "comprising" and / or "comprising" are used in this specification, they mean There are features, steps, operations, means, components and / or combina...

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Abstract

The present invention relates to a motion planning method and system for dual-robot collaboration. Firstly, in the ROS system, a model description file of the dual-robot and the working environment and a MoveIt configuration file of the dual-robot are established; then initialization settings are performed and operation objects are created , use the operation object as a parameter to create a dual-arm instruction, and arrange the actions of the dual-robot to perform tasks; then analyze the dual-arm instructions one by one, and call the MoveIt function to perform motion planning for the instruction, and save and publish the planning results; if there is a plan, there is If there is a wrong instruction, the analysis and planning will stop. The invention has the characteristics of convenient teaching and good versatility.

Description

technical field [0001] The invention relates to the technical field of dual robots, in particular to a motion planning method and system for dual robot collaboration. Background technique [0002] Industrial robots play an important role in the manufacturing industry. A single robot has limitations in flexibility, efficiency, and work space. In order to complete more complex production tasks, dual-robot or even multi-robot systems have received more and more attention and attention. Research. [0003] When the dual-robot system performs tasks, the two robots coordinate and cooperate with each other, so the motion trajectory is complex and changeable, which makes it very difficult for the dual-robot to teach. Traditional industrial robots use the teach pendant to specify a series of trajectory points or teach by dragging the end of the robot. These teaching methods use a single robot as the operating object, and the details of each movement of the robot need to be carefully ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/1605B25J9/1664B25J9/1682
Inventor 吴海彬游晓君黄艺坤
Owner FUZHOU UNIV