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A method, system, device and storage medium for collaborative synchronization of two robots

A dual-robot, storage medium technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of multi-robot synchronous following and low precision, and achieve high-precision synchronization and achieve the effect of precise synchronization

Active Publication Date: 2021-06-08
GUANGZHOU MECHANICAL ENG RES INST +1
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Problems solved by technology

[0005] In order to solve the above-mentioned technical problems, the object of the present invention is to provide a method, system, device and storage medium for dual-robot cooperative synchronization, so as to solve the problems of multi-robot synchronous follow-up and low precision in the prior art

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  • A method, system, device and storage medium for collaborative synchronization of two robots
  • A method, system, device and storage medium for collaborative synchronization of two robots
  • A method, system, device and storage medium for collaborative synchronization of two robots

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Embodiment Construction

[0048] Such as figure 1 Shown the present invention provides a kind of method for synchronous cooperation of two robots, comprises the following steps:

[0049] S1. Obtain the first representation of the base coordinates of the slave robot in the base coordinate system of the master robot;

[0050] S2. Synchronously follow the TCP coordinates of the end of the slave robot to the end of the TCP of the master robot by combining the obtained first representation, so as to achieve synchronization between the master robot and the slave robot.

[0051] In this embodiment, the dual robot means including a master robot and a slave robot, the number of the master robot is one, and the number of the slave robots may be one or more. By using the base coordinate system of the main robot to represent the base coordinates of the slave robot, and combining the first representation and the change of the TCP end of the master robot to obtain the TCP coordinates of the slave robot in real time...

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Abstract

The invention discloses a method, system, device and storage medium for dual-robot collaboration synchronization, wherein the method includes the following steps: obtaining a first representation of the base coordinates of the slave robot in the base coordinate system of the master robot; combining the obtained first Indicates that the TCP coordinates at the end of the slave robot will be followed synchronously to the TCP end of the master robot, thereby achieving synchronization between the master robot and the slave robot. The present invention expresses the base coordinates of the slave robot by using the base coordinate system of the master robot, and obtains the TCP coordinates of the slave robot end in real time in combination with the first representation and the change of the TCP end of the master robot, and controls the slave robot in real time according to the obtained coordinates, so that the slave robot The robot can follow the main robot in real time and achieve high-precision synchronization, which can be widely used in multi-robot collaboration technology.

Description

technical field [0001] The invention relates to multi-robot collaboration technology, in particular to a method, system, device and storage medium for dual-robot collaboration and synchronization. Background technique [0002] At present, industrial robots are widely used in the field of production and manufacturing. In the field of large-scale handling, manual handling is time-consuming and labor-intensive, and industrial robots cannot give full play to their advantages for large-scale workpieces due to their own limited working space. The dual-machine cooperative mode can solve this problem; but the difficulty lies in the synchronization function and precision between two or even multiple robots. At present, there is no corresponding technical solution to solve the problem of low control precision. [0003] Glossary: [0004] TCP: Tool coordinate system. Contents of the invention [0005] In order to solve the above-mentioned technical problems, the object of the pres...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/1602B25J9/1682
Inventor 李雪锋高燕庄健培张见双钟乐华林小峰邓颂坤
Owner GUANGZHOU MECHANICAL ENG RES INST