多机器人柔性焊接的主从协调运动控制系统设计

多机器人柔性焊接的主从协调运动控制系统设计 Design of master-slave coordinated motion control system for multi-robot flexible welding 魏秀权 WEI Xiuquan 1 first-author 王胜华 WANG Shenghua 1 蒋启祥 JIANG Qixiang 1 吴勇健 WU Yongjian 1 侯润石 HOU Runshi 1 杭州凯尔达焊接机器人股份有限公司 杭州凯尔达焊接机器人股份有限公司 Hangzhou KAIERDA Robot technology Co.,Ltd. Hangzhou KAIERDA Robot technology Co.,Ltd. 针对机器人柔性焊接领域,设计实现了一种多机器人主从协调运动控制系统。该系统采用集中控制架构和周期同步位置模式,基于通用的多机器人主从协调运动控制算法,完成从动机器人的协调运动目标矩阵计算,并设计了机器人控制器的主从协调运动控制流程及相应的编程指令集,最后采用4台凯尔达KR1440机器人组成多机器人柔性焊接系统,通过典型主从协调焊接任务的示教编程再现试验,实现了多机器人主从状态的在线切换功能,验证了多机器人主从协调运动控制系统的有效性,为进一步提高机器人焊接系统的柔性水平提供了技术基础。 In the field of robot flexible welding,a multi-robot master-slave coordinated motion control system is designed and implemented. The system adopts a centralized control architecture and a cyclic synchronous position mode.Based on a general multi-robot master-slave coordinated motion control algorithm,the coordinated motion target matrix of slave robot is calculated. Furthermore,the master-slave coordinated motion control process and the corresponding programming instruction set are designed in robot controller.Finally,a multi-robot flexible welding system is set up with four Kaierda KR1440 robots. Through the test of robot program teaching and playback for typical master-slave coordinated welding tasks,the multi-robot master-slave state online switch function is realized and the effectiveness of the control system is verified. This work provides a technical basis for further improving the flexibility of the robot welding system. 多机器人 主从协调 在线切换 柔性焊接 multi-robot master-slave coordinated online switch flexible welding TG409;TP242 2022-03-08 8 51