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分析了现代生产线中以多机器人实现工序串联中的双机器人协调联控的应用需求,以双机器人递接为切入点,给出采用一般工业以太网、非实时操作系统,并借助少量高速实时数据口实现的电气连接分布化、任务分布化的双机器人协调联控系统,并在由视觉采集模块、6自由度机器人、4自由度码垛机器人组成的视觉识别、定位、递接、码垛原型实验平台中得到验证。
This paper analyzes the application requirements of multi-robots to realize the coordinated control of two robots in tandem process in modern production line, and takes the delivery of dual robots as the starting point. The paper gives the general industrial Ethernet and non-real-time operating system, The electrical connections are distributed and the tasks are distributed. The two robots coordinated with the control system, and the visual recognition, positioning, delivery and palletizing prototyping consisting of vision acquisition module, 6-DOF robot and 4-DOF palletizing robot Experimental platform to be verified.