Master-slave Coordinated Control for Multi-Robot Flexible Welding of Complex Structural Parts

Inhalt:
Aiming at the field of robot flexible welding, a multi-robot master-slave coordinated motion control system is designed and implemented. In this system, the centralized control architecture and periodic synchronous position mode are adopted, the master-slave coordinated motion control algorithm based on the general multi-robot is given, the coordinated motion target matrix calculation of the driven robot is completed, and the master-slave coordinated motion control flow of the robot controller and the corresponding programming instruction set are designed. Finally, four KUKA KR10 robots are used to form a multi robot flexible welding workstation for complex structural parts. With the help of the teaching programming reproduction test of master-slave coordinated welding task, the on-line switching function of multi-robot master-slave state is realized, and the effectiveness of multi robot master-slave coordinated motion control system is verified. The above research provides a technical basis for further improving the flexibility of robot automatic welding of complex structural parts.