Robot control method and system based on master-slave coordination
A control method and control system technology, applied in the field of robot control method and system based on master-slave coordination, can solve the problem that the multi-robot control method cannot meet the requirements of certain specific operations, and achieve improved flexibility, convenient use, and simple operation Effect
Active Publication Date: 2021-10-15
HANGZHOU KAIERDA ROBOT TECH CO LTD
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[0005] In order to overcome the problem that the existing multi-robot control method with fixed master-slave relationship cannot meet the requirements of some specific operations, the present invention provides a robot control method and system based on master-slave coordination that can replace the master-slave relationship in the execution program
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[0027] In the existing multi-robot control system, the master-slave relationship of each robot cannot be changed in an execution task. This control method, which cannot change the master-slave relationship, greatly limits the functions of each robot. In view of this, this embodiment provides a method that can change the master-slave state of each robot according to the needs of different stages of the task in an execution task, thereby making the control of each robot more flexible and greatly improving the coordination of multiple robots. Controls the complexity of the work being done.
[0028] Such as figure 2 As shown, the robot control method based on master-slave coordination provided by this embodiment includes: reading robot operating program instructions (step P1). Parse the read instructions to obtain the number information of each robot, the current motion information and the set current master-slave information representing the master-slave relationship of each r...
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The present invention provides a robot control method and system based on master-slave coordination. The robot control method based on master-slave coordination includes: reading robot operation program instructions; analyzing the read instructions to obtain serial number information and current motion information of each robot And set the current master-slave information that characterizes the master-slave relationship of each robot; based on the analysis, obtain the number information, current motion information and current master-slave information of each robot to match the corresponding motion parameters for each robot from the motion parameter configuration file ; Based on the matching motion parameters of each robot and the current master-slave information, call the master-slave coordinated control algorithm to perform master-slave coordinated control.
Description
technical field [0001] The invention relates to the field of robot control, and in particular to a robot control method and system based on master-slave coordination. Background technique [0002] With the continuous development of the manufacturing industry, the application fields of industrial robots are becoming more and more extensive, and the execution ability of a single robot in complex environments and changing tasks is obviously insufficient; the emergence of multi-robot systems has expanded the adaptability of robots, and has gradually become One of the research hotspots in the field of robotics. In order to realize the coordinated work of multiple robots in a multi-robot system, it is usually necessary to set the master-slave relationship of multiple robots so that the slave stations follow the movement trajectory of the master station to perform coordinated operations. In the current multi-robot control system on the market, the master-slave relationship of mult...
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IPC IPC(8): B25J9/16
CPCB25J9/1602B25J9/1664B25J9/1682
Inventor 魏秀权王胜华侯润石
Owner HANGZHOU KAIERDA ROBOT TECH CO LTD