CN112405541B - Laser 3D precision cutting double-robot cooperative operation method - Google Patents

Laser 3D precision cutting double-robot cooperative operation method Download PDF

Info

Publication number
CN112405541B
CN112405541B CN202011280527.6A CN202011280527A CN112405541B CN 112405541 B CN112405541 B CN 112405541B CN 202011280527 A CN202011280527 A CN 202011280527A CN 112405541 B CN112405541 B CN 112405541B
Authority
CN
China
Prior art keywords
coordinate system
robot
robots
dimensional
cutting
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202011280527.6A
Other languages
Chinese (zh)
Other versions
CN112405541A (en
Inventor
李英杰
陈勇
乐庸辉
杨亚涛
袁健
陈世华
陶凯
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Liuzhou Hongde Laser Technology Co Ltd
Original Assignee
Liuzhou Hongde Laser Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Liuzhou Hongde Laser Technology Co Ltd filed Critical Liuzhou Hongde Laser Technology Co Ltd
Priority to CN202011280527.6A priority Critical patent/CN112405541B/en
Publication of CN112405541A publication Critical patent/CN112405541A/en
Application granted granted Critical
Publication of CN112405541B publication Critical patent/CN112405541B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1682—Dual arm manipulator; Coordination of several manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B25J9/1666—Avoiding collision or forbidden zones

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

The invention provides a laser 3D precision cutting double-robot cooperative operation method, which comprises the following steps: s100, establishing a three-dimensional reference coordinate system of a collaborative operation system of two robots by adopting two six-degree-of-freedom industrial robots; s200, modeling analysis is carried out on the two robots according to a three-dimensional space object pose description method and a transformation equation of a three-dimensional coordinate system; s300, expressing the motion relation of the robot in the cutting operation by adopting a mathematical expression; s400, solving and determining the effective working space domain of the cooperative work of the two robots according to the forward kinematics equation of the robots. The method adopts a mathematical expression to describe the motion relation of the robot in the cutting operation by describing the pose of the robot and transforming a three-dimensional coordinate system, avoids the interference between the robots in a mode of setting the soft limit of the robot, increases the range of a processing space, improves the efficiency of collision detection, solves the problem of obstacle avoidance of track planning between two robot systems, and improves the production flexibility.

Description

Laser 3D precision cutting double-robot cooperative operation method
Technical Field
The invention relates to the technical field of laser processing and robots, in particular to a laser 3D precision cutting double-robot cooperative operation method.
Background
In recent years, the laser cutting technology has made great progress in innovation and development, and robots play more and more important roles in the field of laser cutting, and are fully embodied in the aspects of improving the cutting work efficiency, improving the reliability of cut products and the like.
In the actual production process, the laser cutting operation of the robot often meets the space cutting task of some objects with complex shapes, and at the moment, the purpose is often difficult to achieve or the operation efficiency is obviously reduced by only using one robot, so that two robots are needed to perform the laser cutting operation on the objects at the same time.
At present, in the occasion of adopting double-robot operation, the cutting speed is often reduced in order to avoid the mutual interference and collision damage of the two robots. Another solution is to divide a constant and non-overlapping working space range between two robots to use them without mutual interference, which greatly reduces the flexibility in production and processing. In order to improve the production flexibility, ensure the consistency of the cutting quality and realize the normalization of the cutting mode, a plurality of robots are necessary to cooperate with each other to solve the problem.
Disclosure of Invention
In order to solve the technical problem, the invention provides a laser 3D precision cutting double-robot cooperative operation method, which comprises the following steps:
s100, establishing a three-dimensional reference coordinate system of a collaborative operation system of two robots by adopting two six-degree-of-freedom industrial robots;
s200, modeling analysis is carried out on the two robots according to a three-dimensional space object pose description method and a transformation equation of a three-dimensional coordinate system;
s300, expressing the motion relation of the robot in the cutting operation by adopting a mathematical expression;
s400, solving and determining the effective working space domain of the cooperative work of the two robots according to the forward kinematics equation of the robots.
Optionally, the spatial cutting track is classified and analyzed according to the complexity of the spatial cutting track and the application condition of the actual cutting operation; deeply analyzing the trajectory line formed by the inflection point, and establishing a mathematical model of the trajectory line at the inflection point;
and constructing a repulsive field model for the position where the two robots are likely to interfere, performing collision prediction by adopting an improved collision detection algorithm, and modifying space cutting track plans of the two robots according to the collision prediction to perform collision avoidance.
Optionally, according to the separation axis theory, the two robots in the effective working space domain are processed by using an OBB bounding box algorithm, and the safety distance between the two robots is detected.
Optionally, a cutting cooperative operation system including the two robots in steps S100 to S400 is set up, the system controls the two robots to perform an actual cutting operation experiment, and verification and adjustment are performed through the operation experiment.
Optionally, in step S200, the three-dimensional spatial object pose description method includes:
establishing a fixed coordinate system of the robot, and if the fixed coordinate system is consistent with the three-dimensional reference coordinate system in azimuth and the fixed coordinate system and the three-dimensional reference coordinate system are not coincident in origin, determining that
PAk＝PBk+ZAB
In the above formula, PAkRepresenting the position vector of the k point of the robot in the three-dimensional reference coordinate system; pBkA position vector representing a k point of the robot in a fixed coordinate system; zABRepresenting a displacement vector of the fixed coordinate system relative to the three-dimensional reference coordinate system;
expressing the three-dimensional axial direction vector of the fixed coordinate system by adopting the vector of the three-dimensional reference coordinate system to form the following attitude matrix:
Figure BDA0002780611030000021
in the above formula, FABExpressing a vector expression attitude matrix of a three-dimensional axial vector of the fixed coordinate system relative to a three-dimensional reference coordinate system; f. of11、f12And f13Respectively representing the three-dimensional coordinate values of the first-dimensional axis vector of the fixed coordinate system in the three-dimensional reference coordinate system; f. of21、f22And f23Respectively representing the three-dimensional coordinate values of the second-dimensional axis vectors of the fixed coordinate system in the three-dimensional reference coordinate system; f. of31、f32And f33Respectively representing the three-dimensional coordinate values of the third axis vector of the fixed coordinate system in the three-dimensional reference coordinate system;
when the fixed coordinate system changes the direction along with the action of the robot, the direction change is described through the rotation operation of the attitude matrix, so that the pose description of the robot is realized.
Optionally, in step S200, the transformation equation of the three-dimensional coordinate system is expressed by using an attitude matrix of an euler angular coordinate system as follows:
Figure BDA0002780611030000031
in the above formula, FAB' representing an attitude matrix of an Euler angular coordinate system; α represents the angle of rotation of the fixed coordinate system about its Z axis; β represents the angle of rotation of the fixed coordinate system about its Y-axis; gamma denotes the angle of rotation of the fixed coordinate system about its X-axis.
Optionally, the processing procedure of detecting the safe distance between the two robots by using the OBB bounding box algorithm is as follows:
establishing a covariance matrix of the robot:
Figure BDA0002780611030000032
in the above formula, C represents a covariance matrix; g () represents each dimension covariance parameter in the covariance matrix; wherein, the expression general formula of each dimension covariance parameter is:
Figure BDA0002780611030000033
in the above formula, G (x, y) represents a covariance parameter in the (x, y) dimension; n represents the number of sample points; x is the number ofiAn x-dimension value representing the ith sample point; x is the number of0Represents the mean of the x-dimension of all sample points; y isiA y-dimension value representing the ith sample point; y is0Represents the y-dimension average of all sample points;
carrying out diagonalization transformation on the covariance matrix, solving an eigenvector and an eigenvalue of the covariance matrix, and obtaining a coordinate axis of the OBB by using the eigenvector;
if the projection of the two robots on the axis is not overlapped due to the existence of one OBB coordinate axis, the two robots are not collided, and a safety distance exists; otherwise, the pose of the robot needs to be adjusted.
Optionally, the mathematical expression of the motion relationship of the two robots in the cutting operation is as follows:
V1＝T(V2+Vt)
in the above formula, V1Representing the moving speed of the first robot in a fixed coordinate system of the first robot; t represents a four-dimensional transformation matrix between the fixed coordinate systems of the two robots; v2Representing the moving speed of the second robot in a fixed coordinate system of the second robot; vtRepresenting the relative movement speed of the first robot relative to the second robot;
the synchronization of the two robots in speed is realized by algorithm synchronization.
Optionally, the time sequence correlation is performed on the motion tracks of the two robots in the repulsion field model, the process of the two robots moving along the respective motion tracks is simulated according to the time sequence, if it is judged that the two robots will reach a certain point at a certain moment at the same time in advance, collision avoidance is performed by changing the track point of one of the robots at the moment, and the change of the track point at the corresponding moment is realized by adopting a mode of temporarily pausing the track point at the previous moment or changing a local track.
Optionally, the acquisition of the operation data of the two double robots is realized through laser cutting detection, the operation data detected in real time is compared with the simulation process data in the repulsion field model, the real-time deviation of the robot cutting operation is evaluated, and if the real-time deviation reaches a deviation threshold value, a risk prompt is sent.
The method adopts a mathematical expression to describe the motion relation of the robot in the cutting operation by describing the pose of the robot and transforming a three-dimensional coordinate system, avoids the interference between the robots in a mode of setting the soft limit of the robot, increases the range of a processing space, improves the efficiency of collision detection, solves the problem of obstacle avoidance of track planning between two robot systems, and improves the production flexibility.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
fig. 1 is a flowchart of a cooperative operation method of a laser 3D precision cutting double robot according to an embodiment of the present invention.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
As shown in fig. 1, an embodiment of the present invention provides a laser 3D precision cutting dual-robot cooperative operation method, including the following steps:
s100, establishing a three-dimensional reference coordinate system of a collaborative operation system of two robots by adopting two six-degree-of-freedom industrial robots;
s200, modeling analysis is carried out on the two robots according to a three-dimensional space object pose description method and a transformation equation of a three-dimensional coordinate system;
s300, expressing the motion relation of the robot in the cutting operation by adopting a mathematical expression;
s400, solving and determining the effective working space domain of the cooperative work of the two robots according to the forward kinematics equation of the robots.
The working principle and the beneficial effects of the technical scheme are as follows: the method adopts a mathematical expression to describe the motion relation of the robot in the cutting operation by describing the pose of the robot and transforming a three-dimensional coordinate system, avoids the interference between the robots in a mode of setting the soft limit of the robot, increases the range of a processing space, improves the efficiency of collision detection, solves the problem of obstacle avoidance of track planning between two robot systems, and improves the production flexibility.
In one embodiment, the spatial cutting track is classified and analyzed according to the complexity of the spatial cutting track and the application condition of the actual cutting operation; deeply analyzing the trajectory line formed by the inflection point, and establishing a mathematical model of the trajectory line at the inflection point;
and constructing a repulsive field model for the position where the two robots are likely to interfere, performing collision prediction by adopting an improved collision detection algorithm, and modifying space cutting track plans of the two robots according to the collision prediction to perform collision avoidance.
The working principle and the beneficial effects of the technical scheme are as follows: the scheme is used after analyzing and improving the logic of the traditional collision detection algorithm; and a repulsive field model is also built to perform simulation analysis by the repulsive field model, so that the collision detection efficiency is improved, and the obstacle avoidance problem of trajectory planning between the two robot systems is effectively solved.
In one embodiment, the safe distance between two robots is detected using an OBB bounding box algorithm for both robots within the effective workspace domain according to split axis theory.
The working principle and the beneficial effects of the technical scheme are as follows: the scheme refers to an OBB (ordered bounding box) bounding box algorithm to detect the case distance between two robots. The algorithm is based on SAT (separating Axis theory), the bounding box determines the size and the direction of the box according to the collective shape of the object, so that the most compact box can be selected to represent the object; the theory of the separation axis means: if two convex polygonal objects can find an axis, so that the projections of the two objects on the axis do not overlap with each other, no collision occurs between the two objects, which indicates that a safe distance exists between the two objects.
In one embodiment, a cutting cooperative operation system comprising two robots of S100-S400 is built, the system is used for controlling the two robots to perform actual cutting operation experiments, and verification and adjustment are performed through the operation experiments.
The working principle and the beneficial effects of the technical scheme are as follows: according to the scheme, the cutting cooperative operation system of the two robots comprising the steps S100-S400 is constructed, the system is adopted to control the two robots to carry out actual cutting operation experiments, the coordination of the motion relations of the two robots in the cutting operation is checked, and the situation that the cooperation is influenced by the wrong mathematical expression of the motion relations or the robots are damaged due to collision is avoided.
In one embodiment, in step S200, the three-dimensional spatial object pose description method is as follows:
establishing a fixed coordinate system of the robot, and if the fixed coordinate system is consistent with the three-dimensional reference coordinate system in azimuth and the fixed coordinate system and the three-dimensional reference coordinate system are not coincident in origin, determining that
PAk＝PBk+ZAB
In the above formula, PAkRepresenting the position vector of the k point of the robot in the three-dimensional reference coordinate system; pBkA position vector representing a k point of the robot in a fixed coordinate system; zABRepresenting a displacement vector of the fixed coordinate system relative to the three-dimensional reference coordinate system;
expressing the three-dimensional axial direction vector of the fixed coordinate system by adopting the vector of the three-dimensional reference coordinate system to form the following attitude matrix:
Figure BDA0002780611030000071
in the above formula, FABExpressing a vector expression attitude matrix of a three-dimensional axial vector of the fixed coordinate system relative to a three-dimensional reference coordinate system; f. of11、f12And f13Respectively representing three-dimensional coordinates of first-dimension axis vectors of fixed coordinate system in three-dimensional reference coordinate systemMarking a value; f. of21、f22And f23Respectively representing the three-dimensional coordinate values of the second-dimensional axis vectors of the fixed coordinate system in the three-dimensional reference coordinate system; f. of31、f32And f33Respectively representing the three-dimensional coordinate values of the third axis vector of the fixed coordinate system in the three-dimensional reference coordinate system;
when the fixed coordinate system changes the direction along with the action of the robot, the direction change is described through the rotation operation of the attitude matrix, so that the pose description of the robot is realized.
The working principle and the beneficial effects of the technical scheme are as follows: according to the scheme, a fixed coordinate system is established for each robot, the fixed coordinate system corresponds to the robot and is relatively fixed with the robot, so that the fixed coordinate system can synchronously move or rotate along with the movement of the robot to simplify the real-time coordinate description of the robot cutting operation point, then coordinate transformation is carried out by using the attitude matrix, the accurate description of the real-time coordinate of the robot cutting operation point is achieved through the operation process, all real-time coordinates during the cutting operation of the cutting operation point form an accurate cutting track, the smooth proceeding of cutting is guaranteed, the calculation speed is high, the cutting efficiency is improved, and the high efficiency of the cooperation of the two robots is realized.
In one embodiment, in step S200, the transformation equation of the three-dimensional coordinate system is expressed by using an attitude matrix of an euler angular coordinate system as follows:
Figure BDA0002780611030000072
in the above formula, FAB' representing an attitude matrix of an Euler angular coordinate system; α represents the angle of rotation of the fixed coordinate system about its Z axis; β represents the angle of rotation of the fixed coordinate system about its Y-axis; gamma denotes the angle of rotation of the fixed coordinate system about its X-axis.
The working principle and the beneficial effects of the technical scheme are as follows: according to the scheme, the three-dimensional coordinate system is transformed by adopting the attitude matrix of the Euler angular coordinate system, so that the calculation can be further simplified, the calculation amount is reduced, the calculation speed is accelerated, and the cutting efficiency is improved.
In one embodiment, the process of detecting the safe distance between two robots using the OBB bounding box algorithm is as follows:
establishing a covariance matrix of the robot:
Figure BDA0002780611030000081
in the above formula, C represents a covariance matrix; g () represents each dimension covariance parameter in the covariance matrix; wherein, the expression general formula of each dimension covariance parameter is:
Figure BDA0002780611030000082
in the above formula, G (x, y) represents a covariance parameter in the (x, y) dimension; n represents the number of sample points; x is the number ofiAn x-dimension value representing the ith sample point; x is the number of0Represents the mean of the x-dimension of all sample points; y isiA y-dimension value representing the ith sample point; y is0Represents the y-dimension average of all sample points;
carrying out diagonalization transformation on the covariance matrix, solving an eigenvector and an eigenvalue of the covariance matrix, and obtaining a coordinate axis of the OBB by using the eigenvector;
if the projection of the two robots on the axis is not overlapped due to the existence of one OBB coordinate axis, the two robots are not collided, and a safety distance exists; otherwise, the pose of the robot needs to be adjusted.
The working principle and the beneficial effects of the technical scheme are as follows: according to the scheme, through the analysis of a covariance matrix of the robot, the coordinate axis of the OBB is obtained through the eigenvector and the eigenvalue of the covariance matrix; and (3) projecting the two robots on the coordinate axes of the OBB, detecting whether the projections of the two robots are overlapped, if the projections on the coordinate axes of all the found OBB are not overlapped, indicating that the two robots have a safety distance, otherwise, collision possibly occurs, and the influence parameters in the front are required to be adjusted.
In one embodiment, the mathematical expression of the relationship of the two robots' movements in the cutting operation is:
V1＝T(V2+Vt)
in the above formula, V1Representing the moving speed of the first robot in a fixed coordinate system of the first robot; t represents a four-dimensional transformation matrix between the fixed coordinate systems of the two robots; v2Representing the moving speed of the second robot in a fixed coordinate system of the second robot; vtRepresenting the relative movement speed of the first robot relative to the second robot;
the synchronization of the two robots in speed is realized by algorithm synchronization.
The working principle and the beneficial effects of the technical scheme are as follows: according to the scheme, the operation speeds of the operation of the two machines are mathematically described, and then are synchronized by an algorithm, so that the two robots are synchronized in speed, and the risk of collision and interference caused by the difference of the speeds of the two robots is avoided.
In one embodiment, the time sequence correlation is performed on the motion tracks of the two robots in the repulsive field model, the process that the two robots move along the respective motion tracks is simulated according to the time sequence, if it is predicted that the two robots will reach a certain point at a certain moment at the same time, collision avoidance is performed by changing the track point of one of the robots at the moment, and the change of the track point at the corresponding moment is realized by temporarily pausing the track point at the previous moment or changing a local track.
The working principle and the beneficial effects of the technical scheme are as follows: according to the scheme, the time sequence characteristics of the motion of the two robots are introduced into the repulsive field model, time sequence prejudgment is carried out in the process that the two robots move along respective motion tracks in simulation, the possibility of collision between the two robots is estimated in advance, if collision risks exist, the time sequence of one robot is locally adjusted, or the robot stays for waiting for the other robot to pass through a possible collision point or a travelling line is locally changed for avoiding, so that the safety of equipment and the smoothness of operation are guaranteed.
In one embodiment, the collection of the operation data of the two double robots is realized through laser cutting detection, the real-time detected operation data is compared with the simulation process data in the repulsive field model, the real-time deviation of the robot cutting operation is evaluated, and if the real-time deviation reaches a deviation threshold value, a risk prompt is sent out.
The working principle and the beneficial effects of the technical scheme are as follows: according to the scheme, the working processes of the two double robots are monitored in real time, real-time data are compared with simulation process data in a verified repulsion field model, and data deviation is calculated so as to judge the coordination and risk of the working of the two robots, so that the aims of reducing the working risk and improving the coordination efficiency and the production efficiency are fulfilled; the quality of the cutting and processing technology of the articles is ensured, the qualification rate of finished products is improved, the waste is reduced, and the cost is saved.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.

Claims (8)

1. A laser 3D precision cutting double-robot cooperative operation method is characterized by comprising the following steps:
s100, establishing a three-dimensional reference coordinate system of a collaborative operation system of two robots by adopting two six-degree-of-freedom industrial robots;
s200, modeling analysis is carried out on the two robots according to a three-dimensional space object pose description method and a transformation equation of a three-dimensional coordinate system;
s300, expressing the motion relation of the robot in the cutting operation by adopting a mathematical expression;
s400, solving and determining an effective working space domain of cooperative work of the two robots according to a forward kinematics equation of the robots;
classifying and analyzing the space cutting track according to the complexity of the space cutting track and the application condition of the actual cutting operation; deeply analyzing the trajectory line formed by the inflection point, and establishing a mathematical model of the trajectory line at the inflection point;
building a repulsive field model for the position where interference is likely to occur between the two robots, adopting an improved collision detection algorithm to perform collision prediction, and modifying space cutting track plans of the two robots according to the collision prediction to perform collision avoidance;
the method comprises the steps of carrying out time sequence correlation on motion tracks of two robots in a repulsion field model, simulating the process of the two robots acting along respective motion tracks according to the time sequence, if the two robots are judged to arrive at a certain point at a certain moment at the same time in advance, changing track points of one robot at the moment to carry out collision avoidance, and changing the corresponding moment track points by adopting the way of temporarily pausing the track points at the previous moment or changing local tracks.
2. The laser 3D precision cutting double-robot cooperative operation method according to claim 1, characterized in that according to a separation axis theory, an OBB bounding box algorithm is adopted for processing the two robots in an effective working space domain, and a safety distance between the two robots is detected.
3. The laser 3D precision cutting double-robot cooperative operation method according to claim 1, wherein a two-robot cutting cooperative operation system comprising steps S100-S400 is built, the system is used for controlling two robots to perform actual cutting operation experiments, and verification and adjustment are performed through the operation experiments.
4. The laser 3D precision cutting double-robot cooperative work method according to claim 1, wherein in the step S200, the three-dimensional space object pose description method is as follows:
establishing a fixed coordinate system of the robot, and if the fixed coordinate system is consistent with the three-dimensional reference coordinate system in azimuth and the fixed coordinate system and the three-dimensional reference coordinate system are not coincident in origin, determining that
PAk＝PBk+ZAB
In the above formula, PAkRepresenting the position vector of the k point of the robot in the three-dimensional reference coordinate system; pBkTo representThe position vector of the k point of the robot in a fixed coordinate system; zABRepresenting a displacement vector of the fixed coordinate system relative to the three-dimensional reference coordinate system;
expressing the three-dimensional axial direction vector of the fixed coordinate system by adopting the vector of the three-dimensional reference coordinate system to form the following attitude matrix:
Figure FDA0003096138310000021
in the above formula, FABExpressing a vector expression attitude matrix of a three-dimensional axial vector of the fixed coordinate system relative to a three-dimensional reference coordinate system; f. of11、f12And f13Respectively representing the three-dimensional coordinate values of the first-dimensional axis vector of the fixed coordinate system in the three-dimensional reference coordinate system; f. of21、f22And f23Respectively representing the three-dimensional coordinate values of the second-dimensional axis vectors of the fixed coordinate system in the three-dimensional reference coordinate system; f. of31、f32And f33Respectively representing the three-dimensional coordinate values of the third axis vector of the fixed coordinate system in the three-dimensional reference coordinate system;
when the fixed coordinate system changes the direction along with the action of the robot, the direction change is described through the rotation operation of the attitude matrix, so that the pose description of the robot is realized.
5. The laser 3D precision cutting dual-robot cooperative working method according to claim 1, wherein in the step S200, the transformation equation of the three-dimensional coordinate system is expressed as follows by using an euler angle coordinate system attitude matrix:
Figure FDA0003096138310000022
in the above formula, FAB' representing an attitude matrix of an Euler angular coordinate system; α represents the angle of rotation of the fixed coordinate system about its Z axis; β represents the angle of rotation of the fixed coordinate system about its Y-axis; gamma denotes the angle of rotation of the fixed coordinate system about its X-axis.
6. The laser 3D precision cutting double-robot cooperative operation method according to claim 2, wherein the processing procedure of detecting the safe distance between the two robots by using the OBB bounding box algorithm is as follows:
establishing a covariance matrix of the robot:
Figure FDA0003096138310000031
in the above formula, C represents a covariance matrix; g () represents each dimension covariance parameter in the covariance matrix; wherein, the expression general formula of each dimension covariance parameter is:
Figure FDA0003096138310000032
in the above formula, G (x, y) represents a covariance parameter in the (x, y) dimension; n represents the number of sample points; x is the number ofiAn x-dimension value representing the ith sample point; x is the number of0Represents the mean of the x-dimension of all sample points; y isiA y-dimension value representing the ith sample point; y is0Represents the y-dimension average of all sample points;
carrying out diagonalization transformation on the covariance matrix, solving an eigenvector and an eigenvalue of the covariance matrix, and obtaining a coordinate axis of the OBB by using the eigenvector;
if the projection of the two robots on the axis is not overlapped due to the existence of one OBB coordinate axis, the two robots are not collided, and a safety distance exists; otherwise, the pose of the robot needs to be adjusted.
7. The laser 3D precision cutting double-robot cooperative operation method according to claim 1, wherein the mathematical expression of the motion relation of the two robots in the cutting operation is as follows:
V1＝T(V2+Vt)
in the above formula, the first and second carbon atoms are,V1representing the moving speed of the first robot in a fixed coordinate system of the first robot; t represents a four-dimensional transformation matrix between the fixed coordinate systems of the two robots; v2Representing the moving speed of the second robot in a fixed coordinate system of the second robot; vtRepresenting the relative movement speed of the first robot relative to the second robot;
the synchronization of the two robots in speed is realized by algorithm synchronization.
8. The laser 3D precision cutting double-robot cooperative operation method according to claim 1, characterized in that, through laser cutting detection, the collection of two double-robot operation data is realized, the real-time detected operation data is compared with the simulation process data in the repulsion field model, the real-time deviation of the robot cutting operation is evaluated, and if the real-time deviation reaches a deviation threshold value, a risk prompt is sent.
CN202011280527.6A 2020-11-16 2020-11-16 Laser 3D precision cutting double-robot cooperative operation method Active CN112405541B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202011280527.6A CN112405541B (en) 2020-11-16 2020-11-16 Laser 3D precision cutting double-robot cooperative operation method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202011280527.6A CN112405541B (en) 2020-11-16 2020-11-16 Laser 3D precision cutting double-robot cooperative operation method

Publications (2)

Publication Number Publication Date
CN112405541A CN112405541A (en) 2021-02-26
CN112405541B true CN112405541B (en) 2021-07-16

Family

ID=74831306

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202011280527.6A Active CN112405541B (en) 2020-11-16 2020-11-16 Laser 3D precision cutting double-robot cooperative operation method

Country Status (1)

Country Link
CN (1) CN112405541B (en)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113847948A (en) * 2021-09-23 2021-12-28 大地巨人(北京)工程科技有限公司 Dynamic compaction automatic monitoring and analyzing method and digital integrated system
CN114051374B (en) * 2021-10-29 2023-07-25 株洲麦格米特电气有限责任公司 Avoidance method, avoidance inspection method, package inspection unit, and structure inspection tool
CN114545877B (en) * 2022-02-08 2024-04-05 燕山大学 Multi-working-procedure mechanical digital twin on-line monitoring system and method for bulk cargo
CN116532822B (en) * 2023-07-06 2023-09-26 宏晟激光技术(佛山)有限公司 Double-robot-coordinated laser cutting method and equipment for metal special-shaped tube

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106444739A (en) * 2016-07-15 2017-02-22 鹿龙 Multi-industrial-robot virtual offline co-simulation system and method
CN107957684A (en) * 2017-11-17 2018-04-24 华南理工大学 A kind of robot three-dimensional based on pseudo-velocity vector field is without touching method for planning track
WO2019158349A1 (en) * 2018-02-16 2019-08-22 Tq Systems Gmbh Production module with collaborative robot
CN110695988A (en) * 2019-09-04 2020-01-17 南京理工大学 Method and system for cooperative motion of double mechanical arms
CN111791234A (en) * 2020-07-07 2020-10-20 苏州红橙蓝机器人有限公司 Anti-collision control algorithm for working positions of multiple robots in narrow space

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106444739A (en) * 2016-07-15 2017-02-22 鹿龙 Multi-industrial-robot virtual offline co-simulation system and method
CN107957684A (en) * 2017-11-17 2018-04-24 华南理工大学 A kind of robot three-dimensional based on pseudo-velocity vector field is without touching method for planning track
WO2019158349A1 (en) * 2018-02-16 2019-08-22 Tq Systems Gmbh Production module with collaborative robot
CN110695988A (en) * 2019-09-04 2020-01-17 南京理工大学 Method and system for cooperative motion of double mechanical arms
CN111791234A (en) * 2020-07-07 2020-10-20 苏州红橙蓝机器人有限公司 Anti-collision control algorithm for working positions of multiple robots in narrow space

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
"双机器人焊接协同作业轨迹规划";张荣;《中国优秀硕士学位论文全文数据库 信息科技辑》;20190915(第9期);第Ⅰ140-254页 *
张荣."双机器人焊接协同作业轨迹规划".《中国优秀硕士学位论文全文数据库 信息科技辑》.2019,(第9期),第Ⅰ140-254页. *

Also Published As

Publication number Publication date
CN112405541A (en) 2021-02-26

Similar Documents

Publication Publication Date Title
CN112405541B (en) Laser 3D precision cutting double-robot cooperative operation method
CN108908331B (en) Obstacle avoidance method and system for super-redundant flexible robot and computer storage medium
CN108286949B (en) Movable three-dimensional detection robot system
Gong et al. Analytical inverse kinematics and self-motion application for 7-DOF redundant manipulator
US11745355B2 (en) Control device, control method, and non-transitory computer-readable storage medium
Ren et al. A method for optimizing the base position of mobile painting manipulators
CN108555911A (en) Remote operating machinery arm, three-D barrier-avoiding method based on virtual thrust
WO2021174796A1 (en) Grabbing attitude calculation method in scenario where live-working robot grabs branch line
Ramon-Soria et al. Grasp planning and visual servoing for an outdoors aerial dual manipulator
Liu et al. Optimal path planning for automated dimensional inspection of free-form surfaces
CN114237256B (en) Three-dimensional path planning and navigation method suitable for under-actuated robot
Fang et al. Orientation planning of robot end-effector using augmented reality
CN113246143A (en) Mechanical arm dynamic obstacle avoidance trajectory planning method and device
Mu et al. A hybrid obstacle-avoidance method of spatial hyper-redundant manipulators for servicing in confined space
CN113829343A (en) Real-time multi-task multi-person man-machine interaction system based on environment perception
Lai et al. Integration of visual information and robot offline programming system for improving automatic deburring process
Thomas et al. Multi sensor fusion in robot assembly using particle filters
CN116214497A (en) Point set interferometry
Li et al. Multi-joint active collision avoidance for robot based on depth visual perception
Özdemir et al. Follow the gap with dynamic window approach
Larsen et al. Full automatic path planning of cooperating robots in industrial applications
CN113146637B (en) Robot Cartesian space motion planning method
Gao et al. A novel local path planning method considering both robot posture and path smoothness
Hwang et al. On-line collision-avoidance trajectory planning of two planar robots based on geometric modeling
Kim et al. Generation of a 3D robot path for collision avoidance of a workpiece based on voxel and vector field

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant