The invention relates to the technical field of
robot control, and discloses a pick-and-place
time sequence control method and
system for a
sky rail
robot and multiple
machining equipments.The pick-and-place
time sequence control method for the
sky rail
robot and the multiple
machining equipments.The pick-and-place
time sequence control method for the
sky rail robot and the multiple
machining equipmentsincludes the steps that a machining equipment set and
cache capacity parameters are read, and a service urgency index is calculated; operating state information is collected, the abnormal probability is calculated, and the
processing equipment is divided into a fault isolation set and a serviceable set;
global optimization is carried out on the service path of the sky rail robot, and an action sequence is generated and executed; performing isolation operation on the
processing equipment in the fault isolation set, and smoothly incorporating the recovered
processing equipment; the whole process of taking and placing operation is recorded, and the estimated machining completion moment is updated; according to the method, the service path of the sky rail robot is globally optimized through the
ant colony
algorithm, a high-quality action sequence is found in a complex
combinatorial optimization problem, downstream accumulation is prevented through automatic adjustment when a fault occurs, and stable operation of a production
system is guaranteed.