摘要
针对目前大多数双机器人搬运系统存在控制响应慢导致内力控制不足的问题,采用装置设计的方式代替力控制算法。建立双机器人系统的约束关系,并对机器人正逆运动学进行分析。基于双机器人搬运系统运动学的分析,结合对机器人的误差建模,构建机器人误差与期望位姿间的关系。设计一种自调节缓冲装置,根据误差自动调节,使机器人的调节时间大于控制周期,以此减少误差对被搬运物所造成的影响。仿真分析机器人各关节角随时间的变化关系曲线。结果证明:该基于自调节缓冲装置的双机器人搬运系统具有有效性以及合理性。
In response to the deficiencies in internal force control caused by slow control response in most current dual robot handling systems,this article adopts device design to replace force control algorithms.The constraint relationship of the dual robot system is established,and forward and reverse kinematic analysis on the robot is conducted.Based on the kinematic analysis and by the combination of robot error modeling,the relationship between the robot error and the expected pose is constructed.A self-adjusting buffer device that can automatically adjust according to errors is designed,making the robot's adjustment time greater than the control cycle to reduce the impact of errors on the transported object.The simulation analysis on the relationship curves of the robot joint angles along with the change of time is carried out,which proves the effectiveness and rationality of the dual robot handling system based on self-adjusting buffer devices.
作者
赵志刚
王新哲
赵祥堂
车王建
ZHAO Zhigang;WANG Xinzhe;ZHAO Xiangtang;CHE Wangjian(School of Mechanical Engineering,Lanzhou Jiaotong University,Lanzhou 730070,China)
出处
《机械制造与自动化》
2025年第4期231-235,共5页
Machine Building & Automation
基金
国家自然科学基金项目(51965032)
甘肃省自然科学基金重点项目(22JR5RA319)。
关键词
自调节缓冲装置
双机器人搬运系统
结构设计
运动学分析
仿真分析
self-regulating buffer device
dual robot handling
structural design
kinematic analysis
simulation analysis
