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
相关论文
共 50 条
  • [41] Research and implementation of parallel I/O in parallel database system
    Ye, Xiaobin
    Yang, Shuqiang
    Chang, Yuelou
    Jisuanji Gongcheng/Computer Engineering, 2000, 26 (03): : 57 - 58
  • [42] RESEARCH OF NESTED PARALLEL PIPELINES ON PARALLEL GRAPHICS RENDERING SYSTEM
    Peng, Haoyu
    Xiong, Hua
    Liu, Zhen
    Shi, Jiaoying
    INTERNATIONAL JOURNAL OF IMAGE AND GRAPHICS, 2008, 8 (02) : 209 - 222
  • [43] Flexible Fixturing System Design Based on a Family of Novel Parallel Robots
    Yu, Hongjian
    Li, Bing
    Yang, Xiaojun
    Hu, Hong
    2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-4, 2009, : 1304 - 1309
  • [44] Modeling of parallel robots in coordination with flexible multibody system and dynamic simulation
    School of Mechanical Engineering and Automation, Northeastern University, Shenyang 110004, China
    Dongbei Daxue Xuebao, 2008, 3 (366-370):
  • [45] Design and Analysis of Parallel Robots for a Flexible Fixturing System with Performance Atlases
    Li, Bing
    Xu, Peng
    Yu, Hongjian
    Lou, Yunjiang
    Yang, Xiaojun
    2015 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), 2015, : 3152 - 3157
  • [46] Two aspects of multiple mobile robots: A parallel architecture and an autonomous navigation strategy
    Lauria, S
    Foster, GT
    Harwin, OS
    Habert, O
    MANAGING INTERACTIONS IN SMART ENVIRONMENTS, 2000, : 131 - 142
  • [47] WORKSPACE ANALYSIS OF TWO INNOVATIVE PARALLEL ROBOTS FOR SINGLE INCISION LAPAROSCOPIC SURGERY
    Pusca, Alexandru
    Rus, Gabriela
    Birlescu, Iosif
    Vaida, Calin
    Pisla, Adrian
    Schonstein, Claudiu
    Gherman, Bogdan
    Tucan, Paul
    Pisla, Doina
    ACTA TECHNICA NAPOCENSIS SERIES-APPLIED MATHEMATICS MECHANICS AND ENGINEERING, 2022, 65 : 407 - 414
  • [48] Progressive Development of an Autonomous Robot for Children through Parallel Comparison of Two Robots
    Matsuzoe, Shizuko
    Kuzuoka, Hideaki
    Tanaka, Fumihide
    HRI'14: PROCEEDINGS OF THE 2014 ACM/IEEE INTERNATIONAL CONFERENCE ON HUMAN-ROBOT INTERACTION, 2014, : 244 - 245
  • [49] Behaviour cooperation by negation for mobile robots
    Santana, Pedro F.
    Correia, Luis
    2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-3, 2006, : 982 - +
  • [50] The Design Research of the Embedded Control System of Industrial Robots
    Li, Jiuchao
    Yao, Cheng
    Xu, Haifeng
    PROCEEDINGS OF THE 2015 INTERNATIONAL CONFERENCE ON INTELLIGENT SYSTEMS RESEARCH AND MECHATRONICS ENGINEERING, 2015, 121 : 626 - 631
12345