Design of motion controlling system for multirobot systems

doi:10.3778/j.issn.1002-8331.2009.08.022

Computer Engineering and Applications ›› 2009, Vol. 45 ›› Issue (8): 72-75.DOI: 10.3778/j.issn.1002-8331.2009.08.022

• 研发、设计、测试 • Previous Articles Next Articles

Design of motion controlling system for multirobot systems

LIU Yi-hua¹,CHU Ru-yuan^1,2

1.Ningbo Institute of Technology，Zhejiang University，Ningbo，Zhejiang 315100，China
2.Subsidiary Company Installation Maintenance，Zhenhai Refining Chemical Co.，Ltd.，Ningbo，Zhejiang 315207，China

Received:2008-01-28 Revised:2008-04-18 Online:2009-03-11 Published:2009-03-11
Contact: LIU Yi-hua

多机器人系统中的机器人运动控制

刘毅华¹,褚如元^1,2

1.浙江大学宁波理工学院，浙江宁波 315100
2.镇海炼油化工股份有限公司下属检修安装公司，浙江宁波 315207

通讯作者: 刘毅华

Abstract

Abstract: Based on the requirements and characteristics of motion control for multirobot system，the Server-IPC-PLC-structured mobile robot motion control system is proposed.The electrical interconnection of subsystems is also discussed.The kinematic model of mobile robot is firstly established.Then the robot motion tracking algorithm is designed based on the decomposition velocity control.Simulations show the validity of algorithm.

Key words: multirobot systems, resolved motion rate control, trajectory tracking, remote control, serial communication

摘要： 针对多机器人系统中机器人运动控制的要求和特点，提出了基于Server+IPC+PLC架构的移动机器人运动控制系统方案，解决了系统互连中存在的一些问题。建立移动机器人的运动学模型，设计基于分解运动速度控制的机器人运动轨迹跟踪算法，并通过仿真研究验证算法的有效性。

关键词: 多机器人系统, 分解运动速度控制, 轨迹跟踪, 远程控制, 串口通信

LIU Yi-hua¹,CHU Ru-yuan^1,2. Design of motion controlling system for multirobot systems[J]. Computer Engineering and Applications, 2009, 45(8): 72-75.

刘毅华¹,褚如元^1,2. 多机器人系统中的机器人运动控制[J]. 计算机工程与应用, 2009, 45(8): 72-75.

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Design of motion controlling system for multirobot systems

多机器人系统中的机器人运动控制

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