基于ROBOGUIDE的多机器人工作站仿真系统的设计

Design of Multi Robot Workstation Simulation System Based on ROBOGUIDE

多机器人协同工作是机器人工作站中的常见形式。本文以两台机器人协同工作为例,介绍了多机器人工作站建模、仿真和编程控制的方法。将两台工业机器人放在一个工作区域中,两台机器人主要进行搬运工作,由一号机器人将工件搬运至异步传送带,通过异步传送带传送到二号机器人工作空间,二号机器人搬运至规定位置。本文规划了工作站的布局,并使用UG建立了工作站各组成部分的三维模型,然后将其导入ROBOGUIDE中,建立了机器人和其它对象的动态模型。基于协同工作的考虑,编写了两台机器人的控制程序,并在仿真系统中实现了调试。两台机器人仿真的运动轨迹和动作符合预期,说明该建模和仿真方法有效。

In the realm of robot workstations,multi-robot collaborative endeavors are a frequent occurrence.This paper utilizes the example of two robots working together to introduce modeling,simulation,and programming control methods in the context of a multi-robot workstation.Specifically,the two industrial robots are located within the work area,with the primary objective of transporting parts.The first robot is responsible for transporting required parts to an asynchronous conveyor belt,which subsequently moves the parts to the designated workspace of the second robot.The second robot then moves the parts to their specified location.To design the workstation layout,UG was implemented to create 3D models of each component,which was then integrated into ROBOGUIDE to establish the dynamic robot and object models.The researchers also considered the collaborative nature of the robots and crafted control programs for both,implementing system debugging during the simulation stage.The expected robot trajectories and actions were observed,demonstrating the effectiveness of the modeling and simulation approach utilized.