ABSTRACT

Although the gangue-sorting robot can solve the problems of large particle gangue sorting and green gangue separation, the sorting rate of the robot system is low due to the operation of the robot in a fixed workspace and the unclear mapping relationship between the robot and the task. To address this problem, this paper proposes a collaborative sorting strategy based on an immune dynamic workspace. This paper then constructs the robotic arm gain function based on the change rules and task attribution of the multi-manipulator robot workspace to realize the cooperative operation of multiple robotic arms. It can not only solve the “deadlock” problem in the process of multi-manipulator cooperation, but also improve the sorting efficiency of the robot system. The main contribution of this paper is to solve the problem of low sorting efficiency of multi-manipulator gangue sorting robot, construct a comprehensive gain function of the manipulator, and combine dynamic workspace with immune theory to form an efficient and practical multi-manipulator cooperative control method. Experiments show that the sorting rate of the multi-robot gangue sorting strategy based on immune dynamic workspace is about 20% higher than the traditional method, and the robot system has good stability and reliability.

摘要

煤矸石分选机器人虽然可以解决大颗粒煤矸石分选和绿煤矸石分离等问题，但由于机器人在固定工作空间内运行，机器人与煤矸石之间的映射关系不明确，机器人系统的分选率较低。任务。为了解决这个问题，本文提出了一种基于免疫动态工作空间的协同排序策略。然后本文根据多机械手机器人工作空间的变化规律和任务归属构造机械臂增益函数，实现多机械臂的协同作业。不仅可以解决多机械手协作过程中的“死锁”问题，还可以提高机器人系统的分拣效率。本文的主要贡献是解决多机械臂煤矸石分选机器人分选效率低的问题，构建机械臂综合增益函数，将动态工作空间与免疫理论相结合，形成高效实用的多机械臂协同控制。方法。实验表明，基于免疫动态工作空间的多机器人煤矸石分选策略分选率较传统方法提高约20%，机器人系统具有良好的稳定性和可靠性。