Multimobile Robot Cluster System for Robot Machining of Large-Scale Workpieces

In this article, a novel work pattern for large-scale workpiece machining, that is, multimobile robot cluster machining, is proposed. The key idea is to use distributed coordination control to link multiple robots as a cluster system. The coordination control law acts as a virtual constraint, and mu...

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Published inIEEE/ASME transactions on mechatronics Vol. 27; no. 1; pp. 561 - 571
Main Authors Zhao, Xingwei, Tao, Bo, Ding, Han
Format Journal Article
LanguageEnglish
Published New York IEEE 01.02.2022
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Chains
Cluster system
Clusters
Communication networks
Control theory
cooperation control
Coordination
Directed acyclic graph
Machining
Mobile robots
multimobile robot
Multiple robots
Robot control
Robot kinematics
robot machining
Robots
Synchronism
Task analysis
Topology
Turbine blades
Wind turbines
Workpieces
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Abstract In this article, a novel work pattern for large-scale workpiece machining, that is, multimobile robot cluster machining, is proposed. The key idea is to use distributed coordination control to link multiple robots as a cluster system. The coordination control law acts as a virtual constraint, and multiple robots move synchronously under a common leader. Two topological structures are introduced to describe the communication networks of the cluster system, namely, the N -chain and close-loop topologies. The convergence rate and resistance index of different topological structures are analyzed, and the applications of different topologies in varied machining scenarios are discussed. Two experiments are conducted on the multimobile robot system. The cluster system with a close-loop topology is used for the collaborative handling task, where the relative distance of two mobile robots can be limited within 6 cm. The cluster system with an N -chain topology is used for large-scale wind turbine blade machining. The cluster machining system requires little manual intervention and guarantees the synchronization performance of the machining system.
AbstractList In this article, a novel work pattern for large-scale workpiece machining, that is, multimobile robot cluster machining, is proposed. The key idea is to use distributed coordination control to link multiple robots as a cluster system. The coordination control law acts as a virtual constraint, and multiple robots move synchronously under a common leader. Two topological structures are introduced to describe the communication networks of the cluster system, namely, the N -chain and close-loop topologies. The convergence rate and resistance index of different topological structures are analyzed, and the applications of different topologies in varied machining scenarios are discussed. Two experiments are conducted on the multimobile robot system. The cluster system with a close-loop topology is used for the collaborative handling task, where the relative distance of two mobile robots can be limited within 6 cm. The cluster system with an N -chain topology is used for large-scale wind turbine blade machining. The cluster machining system requires little manual intervention and guarantees the synchronization performance of the machining system.
Author Tao, Bo
Zhao, Xingwei
Ding, Han
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Snippet In this article, a novel work pattern for large-scale workpiece machining, that is, multimobile robot cluster machining, is proposed. The key idea is to use...
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SubjectTerms Chains
Cluster system
Clusters
Communication networks
Control theory
cooperation control
Coordination
Directed acyclic graph
Machining
Mobile robots
multimobile robot
Multiple robots
Robot control
Robot kinematics
robot machining
Robots
Synchronism
Task analysis
Topology
Turbine blades
Wind turbines
Workpieces
Title Multimobile Robot Cluster System for Robot Machining of Large-Scale Workpieces
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Volume 27
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