Processing And Research On Cooperative Work Of Dual-Robot

As industrialized production is developing faster and faster,the application of industrial robots and industrial production is becoming more and more closely integrated.However,most of the time,the simple motion and narrow working scope of a single industrial robot cannot meet the convoluted production requirements,so the technology of coordination and cooperation of dual robot systems becomes the main direction and research hotspot to solve this problem.In this paper,two existing KR20R1810-2 robots are combined to establish a dual-robot system,while the calibration of the base coordinates,collision detection and coordinated cooperative motion/coordination motion of the dual-robot system are studied as follows:Based on the structural parameters of the robot,the kinematic model of the robot is determined,and the positive kinematic equation of the robot is deduced.An approach of dual robot base coordinate calibration based on hand-eye calibration is proposed,and the base coordinate transformation matrix calculated by the calibration experiment is solved,and the accuracy of the derived transformation matrix is verified according to the inverse method,and the results show that the transformation matrix error is relatively small and can be applied to industrial production.In order to avoid robot collisions and reduce the probability of accidents,collision detection for dual-robot systems is indispensable.The joints and links at the corresponding positions of the robots are simplified with plain geometries,and the shortest distance between the two sets of geometries is calculated to detect whether the robots collide or not.Using the robot toolbox function of Matlab,a simulation model is created and the collision experiment is simulated to obtain the time when the robot starts to collide.The Adams dynamics model is built and the collision time is obtained by joint collision detection simulation with Matlab.Compared with the collision occurrence time received in Matlab,the times are similar,indicating that the collision detection algorithm is reasonably designed.By planning the motion trajectories of the dual robots during coordinated motion,the trajectories of the robots conform to the characteristics of coordinated motion and can accomplish cooperative work.Two common motion modes of robots are analyzed: the coordinated synchronous motion mode of two robots and the coordinated relative motion mode.Two types of motions,namely carrying objects and writing with two robots,are used as examples to study the above-mentioned two motion modes.And with the aid of the robotics toolbox tool of Matlab,simulations are established for both motions,and it is observed that the angular displacement curves of each joint of the robot are continuous without sudden variations,and the process of coordinated cooperative motion of the robots is stable.Finally,the existing industrial robots are used to conduct experiments of coordinated cooperative motion of dual robots,build a robot control platform,send action commands to control robot motion through TCP/IP transmission,and complete the experiments of handling objects and coordinated cooperative writing of dual robots.The experimental results show that the trajectory planning of the two motion modes conforms to the constraint relationship and can be applied to the coordinated cooperative motion of the dual robots.