双机械臂装箱搬运协同控制设计及实现

Design and Implementation of Collaborative Control for Double Manipulator Packing and Handling

摘要: 本文旨在利用装箱机器臂和码垛机器臂进行协同控制，实现从装箱到搬运的工业流水线生产过程。双机械臂间的协同控制方式是实验实现的关键，直接影响到流水线生产的灵活性和效率。实验首先进行协同控制方案设计，然后提出包含有：延时指令的使用、IO通讯模块的连接和红外线传感器检测三个相关方案。经过方案论证与分析后，选择IO通讯模块连接方案进行实现，并根据拟定方案进行硬件系统搭建，最后使用软件系统完成执行程序的编写并进行协同控制调试。实验结果表明，使用IO通讯连接的协同控制方案在提高流水线生产效率与实时性方面较为显著。

Abstract: The purpose of this paper is to realize the industrial assembly line production process from packing to handling by using the collaborative control of packing manipulator and palletizing manipulator. The collaborative control mode between the two manipulators is the key to the realization of the experiment, which directly affects the flexibility and efficiency of the production line. The experiment firstly designs the collaborative control scheme, and then proposes three related schemes, including the use of delay instructions, the connection of IO communication module and the infrared sensor detection. After the scheme demonstration and analysis of the scheme, the IO communication module connection scheme is selected to realize. According to the proposed scheme, the hardware system is built. Finally, the software system is used to complete the implementation of the program and carry out collaborative control debugging. The experimental results show that the collaborative control scheme using IO communication connection can improve the production efficiency and real-time performance of the assembly line production significantly.