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A control method and control system for two robots to coordinately operate a weakly rigid component

A dual-robot, coordinated operation technology, applied in the direction of program-controlled manipulators, manipulators, manufacturing tools, etc., can solve problems such as dangerous guiding trajectories, and achieve the effects of reducing tracking errors, improving smoothness and safety

Active Publication Date: 2022-03-29
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The technical problem solved by the present invention is to provide a control method and control system for the coordinated operation of weakly rigid components by two robots, so that the guiding trajectory can meet the safety limit requirements of the robot's Cartesian space and joint space at the same time, and solve the problem caused by too much guiding force. The problem of dangerous guidance trajectory caused by large or sudden changes improves the smoothness and safety of the guidance trajectory, improves the response speed of the system, and reduces the tracking error of the object trajectory

Method used

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  • A control method and control system for two robots to coordinately operate a weakly rigid component
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  • A control method and control system for two robots to coordinately operate a weakly rigid component

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Embodiment 1

[0070] A control method for coordinated operation of a weakly rigid component by two robots, comprising the following steps:

[0071] Step 1: Take the weak rigid component as the direct operation object, build the kinematic closed-loop chain model of the dual robot, and design the guidance control of the dual robot based on the model, and the guidance control of the dual robot includes force coordinate transformation, stiffness control and guidance Force threshold control.

[0072] The core goal of the multi-robot coordinated control system is to achieve the desired motion of the clamped object. It is simpler and more intuitive to directly use the operation object as the control target, and it is easier to realize the complex motion trajectory of the clamped object.

[0073] The end of the robot tool and the grasping point of the object are regarded as a fixed connection and there is no relative movement. At this time, the dual robot and the operating object form a kinematic c...

Embodiment 2

[0224] A dual-robot coordinated control system includes a dual-robot motion guidance module, an internal force control and trajectory compensation module, and a multi-sensor UDP and TCP / IP mixed communication module.

[0225] The dual-robot motion guidance module includes a force coordinate transformation module, a stiffness control module, and a guidance force threshold control module, wherein the force coordinate transformation module obtains the coordinate system conversion relationship of the sensor relative to the world coordinate system, and the stiffness control module obtains the stiffness control relationship. And convert the force information into the motion trajectory of the object, and then drive each sub-robot system through kinematics closed-loop chain decoupling. The guidance force threshold control module controls the output guidance force vector by setting the guidance force threshold, reducing the initial state of the sensor. The fluctuation of the force signa...

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Abstract

The present invention proposes a control method and control system for the coordinated operation of weakly rigid components by two robots, which realizes the guidance trajectory while meeting the safety restriction requirements of the robot's Cartesian space and joint space, and solves the problem of too much guidance force in the guidance control algorithm. The problem of dangerous guidance trajectory caused by or sudden change improves the smoothness and safety of the guidance trajectory; while ensuring stability, it greatly improves the response speed of the system, and reduces the number of objects while ensuring the effect of internal force control. Trajectory tracking error is of great significance for industrial robots to realize real-time internal force control based on position.

Description

technical field [0001] The invention belongs to the technical field of robot control, in particular to a control method and a control system for two robots to coordinately operate a weakly rigid component. Background technique [0002] The application of single-arm robots in spraying, welding, grinding, assembly and other related fields has been very mature. However, in some applications for large parts and large-sized workpieces, single-arm robots are no longer competent due to the limitations of their load capacity and working range. some work. With the continuous expansion of the application range of robots, there are more and more application scenarios for multi-robot coordinated control systems. The coordinated movement of the dual robots is the basis and premise of the coordinated control of the system, and it is also the technical core to realize the moving action in the assembly process of the weakly rigid components. The aircraft panel and many aircraft parts are w...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/08B25J9/16
CPCB25J9/08B25J9/1602B25J9/1664
Inventor 张得礼逯轩王珉鲍益东金霞陈文亮
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS