无人仓多搬运机器人协同作业轨迹自动控制研究

由于无人仓多搬运机器人协同作业线路较为复杂，导致协同作业轨迹控制难度增加，为了保证多搬运机器人能够按照规划路线执行搬运作业，提出了无人仓多搬运机器人协同作业轨迹自动控制方法；采用栅格图建模法，结合无人仓内货架的实际分布情况，建立无人仓环境场景；从组成结构、运动学以及动力学3个方面，构建搬运机器人的数学模型；遵循就近原则分配多机器人搬运任务，规划多搬运机器人的协同作业轨迹，根据多搬运机器人实时位姿的自动检测结果计算控制量，利用作业轨迹自动控制器的安装与运行，完成无人仓多搬运机器人协同作业轨迹的自动控制任务；实验结果表明，在该方法应用后，多搬运机器人在无人仓中的作业轨迹与规划轨迹基本相同，计算得出的平均位置控制误差和姿态角控制误差分别为2.27 cm和0.05°,搬运机器人的碰撞次数能被控制在规定范围内，实际应用效果好。

Research on automatic control of cooperative operation trajectory of multi handling robots in unmanned warehouse

Due to the complexity of cooperative operation lines of multi-handling robots in unmanned warehouses, it is more difficult to control cooperative operation trajectory. In order to ensure that multi-handling robots can carry out transportation operations according to the planned route, an automatic control method for cooperative operation trajectory of multi-handling robots in unmanned warehouses was proposed. The raster diagram modeling method was used to establish the environment scene of unmanned warehouse combining with the actual distribution of shelves in unmanned warehouse. The mathematical model of the handling robot is constructed from three aspects of composition, kinematics and dynamics. Follow the principle of nearby distributed multi-robot handling tasks, collaborative planning more handling robot trajectory, according to the multiple handling robot real time control of posture automatic detection results of the calculation amount, using job track installation and operation of automatic controller, no one complete warehouse handling more collaborative trajectory of robot automatic control tasks. The experimental results show that the operation trajectory of multi-handling robot in unmanned warehouse is basically the same as the planned trajectory, and the calculated average position control error and attitude Angle control error are 2.27cm and 0.05° respectively. The number of collisions of handling robot can be controlled within the specified range, and the practical application effect is good.