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

• Published in: IEEE/ASME transactions on mechatronics Vol. 27; no. 1; pp. 561 - 571
• Main Authors: Zhao, Xingwei, Tao, Bo, Ding, Han
• Format: Journal Article
• Language: English
• 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

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...