基于KEBA控制器的双机器人协作焊接系统设计

摘要

According to reIative motions between cooperative robot end-effectors,a method to design the duaI-robot co-operation system based on the KEBA controI er is proposed in this paper.FirstIy the method anaIyzes the overaI structure of the duaI-robot cooperation system and the kinematic constraint reIation between the cooperative robots.Then it aIso pre-sents the strategy of trajectory of synchronization between cooperation robot and the passed data during cooperation.The synchronized fIow chart of the master and sIave robot is aIso gived.%基于多机器人协作运动中末端位姿的轨迹约束关系，提出一种新的基于KEBA控制器的双机器人协作焊接系统设计和构建方法。该方法首先简要分析了系统总体结构和协作过程中机器人末端位姿存在的约束关系方程式，其次分析了其同步控制策略以及协作过程中需要传递的数据内容，分别给出了主从机器人协作运动的流程图。最后搭建了基于KEBA控制器的双机器人协作半物理焊接系统并编写了相关协作指令，验证提出的方法的正确性。