基于叠加同步协作的多机器人离线编程的研究与实现

巢湖学院学报 ›› 2018, Vol. 20 ›› Issue (6): 97-102.

基于叠加同步协作的多机器人离线编程的研究与实现

根据多机器人叠加运动协作的特点，提出一种利用OpenHRP 平台解决多机器人协作叠加运动的路径规划方法。首先分析了叠加运动运动学约束关系，其次明确了直线叠加直线运动和直线叠加圆弧运动的算法，最后通过直线运动的仿真环境得出了多机器人协作的叠加运动的三维仿真图。

芜湖职业技术学院，安徽芜湖 241006

出版日期:2018-11-25 发布日期:2018-11-25
作者简介:万鸾飞（1979-），女，安徽泾县人。芜湖职业技术学院电气工程学院，教授。研究方向：工业机器人协作控制。
基金资助:
安徽省质量工程项目（项目编号：2015zy085、2015mooc112、2016jxtd130）；安徽省高校自然科学研究项目（项目编号：KJ2018A0692）；安徽省高校优秀青年人才支持计划重点项目（项目编号：gxyqZD2016594）

RESEARCH AND IMPLEMENTATION OF MULTI-ROBOT OFFLINE PROGRAMMING BASED ON COORDINATED SUPERPOSITION SYNCHRONIZATION

According to the characteristics of multi-robot superposition motion coordination, a path planning method based on OpenHRP platform for multi-robot cooperative superimposed motion was proposed. Firstly, the kinematic constraints of superposition motion were analyzed. Then the algorithm of straight line superimposed linear motion and straight line superimposed arc movement was designed. Finally, a three-dimensional simulation diagram of multi-robot coordinated superposition motion was obtained through the simulation environment of linear motion.

Wuhu Institute of Technology, Wuhu Anhui 241006

Online:2018-11-25 Published:2018-11-25

摘要/Abstract

摘要： 根据多机器人叠加运动协作的特点，提出一种利用OpenHRP 平台解决多机器人协作叠加运动的路径规划方法。首先分析了叠加运动运动学约束关系，其次明确了直线叠加直线运动和直线叠加圆弧运动的算法，最后通过直线运动的仿真环境得出了多机器人协作的叠加运动的三维仿真图。

关键词: 多机器人, 叠加同步, 协作, 三维仿真

Abstract: According to the characteristics of multi-robot superposition motion coordination, a path planning method based on OpenHRP platform for multi-robot cooperative superimposed motion was proposed. Firstly, the kinematic constraints of superposition motion were analyzed. Then the algorithm of straight line superimposed linear motion and straight line superimposed arc movement was designed. Finally, a three-dimensional simulation diagram of multi-robot coordinated superposition motion was obtained through the simulation environment of linear motion.

Key words: multi-robot system, superposition synchronization, cooperation, 3D simulation

中图分类号:

TP273

万鸾飞, 陈慧蓉. 基于叠加同步协作的多机器人离线编程的研究与实现[J]. 巢湖学院学报, 2018, 20(6): 97-102.

WAN Luan-fei, CHEN Hui-rong. RESEARCH AND IMPLEMENTATION OF MULTI-ROBOT OFFLINE PROGRAMMING BASED ON COORDINATED SUPERPOSITION SYNCHRONIZATION[J]. Journal of Chaohu University, 2018, 20(6): 97-102.