Posture Aligning and Merging System for Boat Blocks--Realization of Coordinated Manipulation with A Multi-Robot System
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摘要: 该文研究多机器人协调理论在尺寸多变、重量庞大的船体分段对接中的应用,提出了基 于多台3自由度移动机器人协调操作的船体分段位姿找正对接系统的结构、组织和协调操作方 法.根据分段对接工艺特点,把位姿找正过程抽象成刚体小位移运动模型,建立了基准段、对接段 和机器人个体坐标系转换关系,给出了位姿找正过程中的机器人的关节运动轨迹规划算法.Abstract: This paper has studied the application of multi robot coordination in a merging system for posture alignment of huge and heavy boat blocks. The system architecture, organization and posture coordinated manipulation method are proposed based on multiple 3DOF mobile robots. By virtue of the blocks merging technology, the blocks kinetic model was built as a rigid body moving with small displacement. The trajectory method of robot joints is also presented after the establishment of relationship among the coordinate systems of basis block, merging block and single robot.
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Key words:
- Multi-robot coordination /
- mobile robots /
- posture alignment /
- trajectory planning
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