CONTROL MODEL AND ALGORITHM FOR COOPERATIVE MOTION OF TWO SIX-AXIS ROBOTS

A standard master-slave relationship-based method for temporally and spatially synchronizing motion of two robots. A master robot is the primary source of a moving coordinate system followed by a slave robot; mutual spatial positions of the robots are defined by means of an additional base coordinat...

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Bibliographic Details
Main Authors YANG, Yujun, HAN, Huanli, BI, Hui, LI, Jiecheng, OU, Biao
Format Patent
LanguageChinese
English
French
Published 27.12.2018
Subjects
CHAMBERS PROVIDED WITH MANIPULATION DEVICES
CONTROL OR REGULATING SYSTEMS IN GENERAL
CONTROLLING
FUNCTIONAL ELEMENTS OF SUCH SYSTEMS
HAND TOOLS
MANIPULATORS
MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS
PERFORMING OPERATIONS
PHYSICS
PORTABLE POWER-DRIVEN TOOLS
REGULATING
TRANSPORTING
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Summary:A standard master-slave relationship-based method for temporally and spatially synchronizing motion of two robots. A master robot is the primary source of a moving coordinate system followed by a slave robot; mutual spatial positions of the robots are defined by means of an additional base coordinate system and a target offset relative to the moving coordinate system. Cooperative motion of two robots is achieved. La présente invention concerne un procédé fondé sur la relation maître-esclave standard pour la synchronisation temporelle et spatiale du mouvement de deux robots. Un robot maître est la source primaire d'un système de coordonnées mobile suivi d'un robot esclave ; les positions spatiales mutuelles des robots sont définies à l'aide d'un système de coordonnées de base supplémentaire et d'un décalage cible par rapport au système de coordonnées mobile. Le mouvement coopératif des deux robots est obtenu. 一种基于标准的主从关系，在时间和空间上同步两个机器人运动的方法，主机器人是从机器人跟随的移动坐标系的主源，机器人的相互空间位置通过新增加的基坐标系和相对于移动坐标系的目标偏移来定义，实现了双机器人的协同运
Bibliography:Application Number: WO2017CN101147