多机器人联合吊运系统可行域分析

针对多机器人协同吊运某物体的闭运动链的协调系统,定义了位置可行域和姿态可行域。对于定绳长、固定基多机器人联合吊运系统,通过物体的受力分析确定出可行域边界受力条件,由物体位置反解机器人末端位置得出可行域的大致范围。在Matlab中,基于蒙特卡罗算法,求解出精确的可行域。该方法避免了直接由工业机器人关节角求解可行域时变量太多、运算复杂的问题,为实现特定吊运轨迹的多机器人吊运系统构型设计提供了参考价值。

Feasible Region Analysis of Multi-robot Joint Lifting System

Aiming at the closed kinematic chain to lift an object of the multi-robot coordination system,the feasible regions of position and gesture are defined. For the multi-robot joint lifting system of certain cord length and fixed base,stress conditions of the feasible region boundary could be determined by analyzing the stress of the object,and range of feasible region could be roughly obtained from the object position inverse solution of robot end position. In MATLAB,the precise feasible region could be got based on the Monte Carlo algorithm. This method avoids many problems caused by the industrial robot joint angle to solve the feasible region,such as too many variables,and complex computing,and it provides a reference to the configuration design of multi-robot system with a trajectory dispatching.