Control system for multi robot carrying based on wireless network

A wireless network, multi-robot technology, applied in control/regulation systems, non-electric variable control, position/direction control, etc., to achieve high real-time performance, easy information automation management, and remote monitoring.

Inactive Publication Date: 2005-04-06
INST OF AUTOMATION CHINESE ACAD OF SCI
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  • Abstract
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  • Claims
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Problems solved by technology

There is currently no image 3 A specially designed control system for the multi-robot handling platform shown

Method used

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  • Control system for multi robot carrying based on wireless network
  • Control system for multi robot carrying based on wireless network
  • Control system for multi robot carrying based on wireless network

Examples

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Embodiment

[0020] In the example, press Figure 4 A 6-degree-of-freedom multi-robot handling platform composed of four CAS-II 3-degree-of-freedom mobile robots was built. Figure 5 and Figure 6 The control system shown realizes the control of the transport platform. in, Figure 5 Industrial computer I1 adopts ADVANTECH-610, which is equipped with Windows 2000 operating system and upper computer application software; wireless network card R1 adopts Tsinghua Tongfang TFW1200-PCI; wireless bridge AP adopts Tsinghua Tongfang TFW2000. Figure 6 The medium PC / 104 unit P1 adopts Advantech PCM-3345, which is equipped with RT-Linux embedded real-time operating system and lower computer application software; the wireless network card access module C1 adopts Advantech PCM-3110C; the wireless network card W1 adopts Tsinghua Tongfang TFW1000-PCMCIA; Axis control card C2 adopts PMAC2A-PC / 104 from American Delta Tau Company; servo amplifiers A1, A2 and A3 adopt Yaskawa YASKAWACACR-SR15SZ1SD-Y214 ty...

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Abstract

The invention relates to a multiple robot carrying control system based on wireless network. It includes upper machine control subsystem used to response to the user's operating command, plan the carrying assignment, and monitor and control the down machine control subsystem; many down machine control subsystems used to plan the moving trace of the robot knuckle, complete the moving servo, and transfer the running state parameter of the robot to the upper machine; the upper machine control subsystem and the down machine control subsystem are connected by the wireless network. The system of the invention can be used to control the six degrees of the freedom multiple robot carrying platform at real time. The gave control scheme not only has the advantage of high real-time performance, good interference immunity, but also can realize tele-monitoring, and is easy to realize information automated administration.

Description

technical field [0001] The invention relates to a multi-robot coordination control system, in particular to a wireless network-based multi-robot handling control system. Background technique [0002] Traditionally, 6-DOF robot systems include two types: serial mechanism robots and parallel mechanism robots. former( figure 1 ) is characterized by the use of an open chain mechanism, which has a large working space, but has the disadvantages of low rigidity and low carrying capacity. the latter( figure 2 ) features a closed-chain mechanism, which has the advantages of high rigidity, large load-carrying capacity, and high precision, but the operating space is narrow (see Huang Zhen, Kong Lingfu, Fang Yuefa, "Parallel Robot Mechanism Theory and Control", Machinery Industry Press, 1997 ). In some operating occasions, such as the 6-DOF docking of large-scale hull segments, it requires a load capacity of up to thousands of tons and an operating space that can accommodate severa...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J13/00G05D3/00
Inventor 景奉水谭民梁自泽徐德王跃
Owner INST OF AUTOMATION CHINESE ACAD OF SCI
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