Research of a two parallel robots cooperation system

被引：0
|
作者：
Wu Zhiheng [1 ]
Chen Bai [1 ]
Jiang Surong [1 ]
Jiang Meng [1 ]
Xi Wanqiang [1 ]
机构：
[1] Nanjing Univ Aeronaut & Astronaut, Sch Mech & Elect Engn, Nanjing, Jiangsu, Peoples R China
来源：
PROCEEDINGS OF 2016 23RD INTERNATIONAL CONFERENCE ON MECHATRONICS AND MACHINE VISION IN PRACTICE (M2VIP) | 2016年
关键词：
two cooperation parallel robots; CPM; iterative learning control; OPTIMIZATION; DESIGN;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The two robots cooperation system has been widely used across the robotic research field with many effective cooperation control strategies. In this paper, a novel two parallel robots cooperation system which can handle objects with large volume and heavy weight is developed by optimizing the traditional Cartesian parallel mechanism (CPM). Forward and inverse kinematics of the improved CPM-based parallel robot and the kinematic constraint of the two robots are derived. Moreover, the trajectories of two robots are planned based on the established kinematic models. An iterative learning control strategy is developed to control the driving torques in the robot joint space. Finally, the model of the system is established via SimMechanics and simulated in Matlab environment. The simulation results verify the effectiveness of the proposed robot system and control algorithm.
引用
收藏
页码：395 / 400
页数：6
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