多机器人协调操作大型物体的运动学分析及应用

本文研究多机器人协调系统在大型圆筒型工件加工中的应用，提出了基于多个3自由度移动机器人协调操作工件进行空间6自由度位姿调整系统的结构和协调方法．在刚体小位移运动模型基础上，建立了系统的运动模型以及逆运动学算法，并给出了满足实时运动规划的简化算法．最后，通过实例对该算法进行了说明．

KINEMATIC ANALYSIS AND APPLICATION OF A HUGE WORKPIECE HANDLING SYSTEM BASED ON MULTI-ROBOT COORDINATION

This paper studies the application of multi robot coordination system in machining of huge cylindrical workpieces. The structure and coordination method of the workpiece's 6 DOF adjustment is presented, which is based on the coordination of multiple 3 DOF mobile robots. Assuming the workpiece as a rigid body moving in small displacement, we build the kinematics model and the inverse algorithm of the system, and also, a simplified algorithm, which is applicable for real time trajectory planning. Finally, A numerical example is provided to illustrate the inverse algorithm.