Research on cooperative control of industrial robots

At present, industrial welding is mostly completed by industrial robots . In the field of arc welding , Traditionally, welding robots + Positioner + The welding workstation composed of tooling and fixtures can no longer meet the current small batch 、 Customized flexible automatic production demand . The cooperative welding system composed of multiple robots has stronger working ability 、 A wider workspace 、 More flexible system structure and organization , It can overcome the shortcomings of traditional welding workstation .

For a typical multi robot welding system with two workpiece handling robots and one welding robot , Controlling the cooperative movement of two handling robots is the key to realize high-quality welding . The problems to be solved include ： Trajectory planning of dual robot cooperation 、 Modeling of dual robot cooperation system 、 And where the two robots work together / Force coordination control, etc .

Researchers from the school of automation of Southeast University have carried out research on the subject of peer-to-peer cooperative control of two robots . The object-oriented trajectory planning method is studied , And build a simulation platform to verify . At the same time, mathematical modeling for dual robots , Determine the end mapping relationship , The impedance control method based on position is used to adjust the position of the two robots in the process of cooperation / Force relation .
To verify the effectiveness of the system , The researchers put two estones ER16 General six joint robot as the control object , Completed the joint movement of steel pipe clamping by two robots .

Planning the trajectory of the two robot cooperation system , First of all, we need to determine the relative pose of the base coordinate system of the two robots , In the experiment, a workpiece customized for calibration is installed at the ends of two robots , Three reflective markers are installed on each calibration workpiece （Marker spot ）, The distance from the mark point on the center of the circle to the center of the other two mark points is 100mm, utilize NOKOV The measuring optical 3D motion capture system locates the marker Point location , To determine the pose of the workpiece at the end of the robot , Thus, the relative pose of the two robots in the base coordinate system is measured .

NOKOV It is measured that the positioning accuracy of optical motion capture system reaches sub millimeter level , It can accurately obtain the real-time six degrees of freedom data of the target , Ensure the smooth progress of scientific research projects .

reference ：

[1] state . Research on peer-to-peer cooperative control of two robots based on impedance model [D]. Southeast University ,2018.