多移动机器人协作转运系统控制与试验

Control and Experiment of A Multi-mobile Robot Cooperative Transport System

多机器人系统可使用多个功能相对简单的机器人执行较为复杂的任务。相比单一机器人运输,多机器人系统在超大、超重部件的转运上展现出更高的灵活性、可扩展性、多产品适应性等优势。提出一种多移动机器人协作转运系统,可实现多台移动机器人负载同一工件在无轨迹约束、无负载框架约束下的稳定运行。基于协作定位及领航-跟随编队控制方法,将有限的轮系驱动能力与纠偏需求相结合输出跟随单元控制量,可充分发挥全舵轮驱动移动机器人全向移动优势,保证速度指令有效并使位姿偏差减小并趋于稳定。考虑实际应用场景,在各机器人顶部设置全向力浮动机构以减小车组间相对位姿偏差对工件产生的外力影响。搭建由4台移动机器人组成的协作转运平台并进行试验,试验结果表明:在该控制方法下整个编队系统可稳定运行,直线、弧线轨迹下各从车相对位置偏差不大于40 mm,姿态偏差不大于6°。

The multi-robot system(MRS)can employ several robots with relatively simple functions to perform more complex tasks.Compared with single robot transportation,MRS demonstrates greater flexibility,scalability and multi-product compatibility in the transfer of oversized and overweighted objects.A multi-mobile robot cooperative transport system was proposed,which could realize the stable operation of mobile robots without trajectory and load frame constraints.Based on cooperative positioning and leader-follower formation control method,the limited wheel drive capability was combined with the corrective demands to output the control amount of following unit,the all directional movement advantage of full steering wheel-driven mobile robot could be realized,to ensure the valid output speed commands and stability while the pose deviation was reduced and stabilized.Considering the practical application scenarios,the all directional force floating mechanism installed at the top of each robot could prevent the workpiece from being damaged by the external force caused by the limited relative pose deviation of the group.The collaborative transport platform composed of four mobile robots was built and tested.The experiment results show that the entire formation works stably under the control method.Under straight trajectory and arc trajectory,the relative position deviation of each robot is less than 40 mm,and the pose deviation is less than 6°.