多机器人协作的灵活性分析与仿真

Flexibility analysis and simulation for multi-robot collaboration

多机器人进行协作操作任务时,其运动灵活性关系到协作系统的整体运动性能,反映了多机器人协调操作能力,对系统的协调运动规划十分重要。利用由3个机器人组成的协作系统,建立各机械臂的D-H运动学模型,通过蒙特卡罗法获得其协作空间;采用可操作度指标对系统的灵活性进行评价,建立协作系统灵活性表达的数学评价模型,应用MATLAB对多机器人协作的灵活性进行仿真分析,获得协作系统灵活性的可视化分布,通过分析协作空间内的灵活性分布情况,确定合适的协调操作空间,以保证多机器人协作系统在进行操作任务时的灵活性最优。

In multi-robot collaboration operation tasks,its movement flexibility is related to the holistic movement performance of a collaborative system,which reflects the multi-robot coordination operability,and is very important to the coordinated motion planning of the system.Using a collaborative system of three robots,D-H kinematics model of each manipulator is established,and its collaboration space is obtained through Monte Carlo method,with leveraging the operability index for system flexibility assessment,the mathematical evaluation model to check the flexibility of the multi-robot collaboration system is developed,and MATLAB is used to simulate and analyze the flexibility of the multi-robot collaboration system to obtain its visual distribution.By analyzing the distribution of flexibility in the collaborative space,a suitable coordinated operation space is determined to ensure the optimal flexibility of the multi-robot collaboration system when operating tasks.