平台首页 >>电子杂志 >>2014年第6期

多机器人联合吊运系统可行域分析*

刘继涛,赵志刚,滕富军

多机器人联合吊运系统可行域分析*

刘继涛,赵志刚,滕富军

(兰州交通大学机电工程学院,甘肃兰州  730070)

摘  要: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。

关键词:多机器人;边界条件;可行域;蒙特卡罗算法

中图分类号:TP249            文献标志码:A            文章编号:1007-4414(2014)06-0054-04

Feasible Region Analysis of Multi-robot Joint Lifting System

LIU Ji-tao, ZHAO Zhi-gang, TENG Fu-jun (School of Mechatronic Engineering, Lanzhou Jiaotong University, Lanzhou Gansu  730070, China)

Abstract: 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.

Key words: multi-robot; boundary conditions; feasible region; Monte Carlo algorithm

分类:研究与试验

收稿日期:2014-10-20

基金项目:国家自然科学基金资助项目(编号:51265021);高等学校博士学科点专项科研基金新教师类资助课题(编号:20126204120004); 教育部科学技术研究重点项目(编号:212184) 。

作者简介:刘继涛(1987-),男,甘肃宁县人,硕士,主要从事复杂系统建模、飞行器设计,机器人技术等方面的研究工作。