The invention discloses a multi-robot hoisting system for coordinated obstacle avoidance planning and a control method, relates to the field of multi-robot hoisting systems, and solves the problems that three existing hoisting robots are easy to collide with one another and cannot avoid space obstacles during coordinated hoisting. The invention provides the following scheme. The system comprises three hoisting robots with the same structure, a comprehensive control system, a space obstacle sensor, a joint mechanical arm trajectory planning module, an obstacle avoidance module, a flexible cable trajectory calculation module, a hoisting robot running trajectory comprehensive module, a hoisting robot running time calculation module and a hoisting robot running trajectory time distribution and adjustment module. The system comprises a joint mechanical arm control module, a hoisting assembly control module, a flexible cable control module, a flexible cable offset calculation module and a flexible cable track compensation module. The system has the characteristics that the operation is stable, all the lifting robots are coordinated and matched, collision is avoided, and the stability is high.

    本发明公开了一种进行协调避障规划的多机器人吊运系统及控制方法,涉及多机器人吊运系统领域,解决了现有的三台吊运机器人协调吊运时,彼此间易发生碰撞,且不能规避空间障碍物的问题。现提出如下方案,其包括三台结构相同的吊运机器人、综合控制系统、空间障碍物传感器、关节机械臂轨迹规划模块、避障模块、柔索轨迹计算模块、各吊运机器人运行轨迹综合模块、吊运机器人运行时间计算模块、各吊运机器人运行轨迹时间分配调节模块、关节机械臂控制模块、起吊组件控制模块、柔索控制模块、柔索偏移量计算模块与柔索轨迹补偿模块。本系统具有运行稳定,且各个吊运机器人之间协调配合,不会发生碰撞,稳定性高的特点。


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    Title :

    Multi-robot lifting system for coordinated obstacle avoidance planning and control method


    Additional title:

    一种进行协调避障规划的多机器人吊运系统及控制方法


    Contributors:
    ZHAO XIANGTANG (author) / ZHAO ZHIGANG (author) / SU CHENG (author)

    Publication date :

    2023-05-26


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B66C Krane , CRANES



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