摘要
研究基于网络的多操作者多机器人的协作方案,分别提出了针对机器人约束和非约束体协作条件下的协调策略,并在局域网内建立一个仿真实验系统对机器人协作进行仿真。在约束情况下以机器人协同搬运为研究点,提出采用"主、从"机器人控制方法,确定工件运动轨迹后采用位置反解算法确定机器人运动。在非约束情况下提出采用"时间戳"、"回滚"方法协调操作。在整个仿真系统中采用基于AABB的碰撞检测算法确保机器人操作的安全性。仿真实验的结果验证了协调策略的可行性和正确性。
The paper reports a research on network based multi-operator multi-robot collaboration, and the coordinated strategy to solve the constrained and unconstrained collaboration of the robots are proposed respectively as welt. An experiment system which implements the proposed coordinated strategy is established in LAN to emulate the collaboration of robots. Under the constrained condition, robots cooperative conveying is studied by adopting the method of ＂master-slave＂ robot control, after the movement trace of work piece is decided, the movement of robots is determined through inverse displacement computing. Under the unconstrained condition,＂ timestamp＂ ,＂ rollback＂ is introduced to coordinate the operators. The whole emulation system adopts AABB-based collision testing algorithm to ensure the operation safety of robots. The result of the emulation system approves the correctness and feasibility of the coordinated strategy.
出处
《计算机应用与软件》
CSCD
北大核心
2008年第9期165-168,共4页
Computer Applications and Software
关键词
多操作者
多机器人
协作
虚拟现实
Multi-operator Multi-robot Collaboration Virtual reality software
