摘要
本文研究多机器人协调系统在大型圆筒型工件加工中的应用 ,提出了基于多个 3自由度移动机器人协调操作工件进行空间 6自由度位姿调整系统的结构和协调方法 .在刚体小位移运动模型基础上 ,建立了系统的运动模型以及逆运动学算法 ,并给出了满足实时运动规划的简化算法 .最后 ,通过实例对该算法进行了说明 .
This paper studies the application of multi robot coordination system in machining of huge cylindrical workpieces. The structure and coordination method of the workpiece's 6 DOF adjustment is presented, which is based on the coordination of multiple 3 DOF mobile robots. Assuming the workpiece as a rigid body moving in small displacement, we build the kinematics model and the inverse algorithm of the system, and also, a simplified algorithm, which is applicable for real time trajectory planning. Finally, A numerical example is provided to illustrate the inverse algorithm.
出处
《机器人》
EI
CSCD
北大核心
2002年第5期451-455,共5页
Robot
