智能工厂中的机器人协同作业技术研究
摘 要
随着工业4.0的推进，智能工厂成为制造业转型升级的关键方向，机器人协同作业技术作为智能工厂的核心支撑技术备受关注。本研究旨在探索智能工厂中机器人协同作业技术，以实现多机器人之间高效、精准、灵活的协同工作为目的。针对智能工厂复杂多变的任务需求和环境特点，提出了一种基于分布式控制架构与群体智能算法相结合的方法，该方法通过构建统一的任务分配模型和路径规划模型，使各机器人能够根据自身状态及环境信息自主决策并动态调整行为策略。实验结果表明，采用此方法后，在多种典型场景下机器人的任务完成率提高了约20%，平均作业时间缩短了15%，且系统鲁棒性显著增强。
关键词：智能工厂 机器人协同作业 分布式控制架构
Abstract
With the promotion of Industry 4.0, intelligent factories have become the key direction of the transformation and upgrading of the manufacturing industry. Robot collaborative operation technology, as the core support technology of intelligent factories, has attracted much attention. This study aims to explore the collaborative operation technology of robots in intelligent factories to achieve efficient, accurate and flexible collaborative work among multiple robots. In view of the intelligent factory complex task requirements and environment characteristics, puts forward a based on the distributed control architecture and group intelligent algorithm method, the method by building a unified task allocation model and path planning model, make the robot can according to their own state and environmental information autonomous decisions and dynamically adjust behavior strategy. The experimental results show that after adopting this method, the task completion rate of the robot increases by about 20%, the average operation time is shortened by 15%, and the system robustness is significantly enhanced.
Keyword:Smart Factory Robot Collaborative Operation Distributed Control Architecture
目 录
1绪论 1
1.1智能工厂与机器人协同作业的背景 1
1.2国内外研究现状综述 1
1.3研究方法与技术路线 2
2机器人协同作业的关键技术 2
2.1多机器人协作控制算法 2
2.2信息交互与通信协议 3
2.3任务分配与路径规划 4
3协同作业中的感知与决策 4
3.1环境感知与建模 4
3.2实时决策机制设计 5
3.3异常处理与容错能力 6
4应用案例与系统实现 6
4.1典型应用场景分析 6
4.2系统架构与模块设计 7
4.3实验验证与结果分析 7
结论 2
参考文献 4
致谢 5
摘 要
随着工业4.0的推进，智能工厂成为制造业转型升级的关键方向，机器人协同作业技术作为智能工厂的核心支撑技术备受关注。本研究旨在探索智能工厂中机器人协同作业技术，以实现多机器人之间高效、精准、灵活的协同工作为目的。针对智能工厂复杂多变的任务需求和环境特点，提出了一种基于分布式控制架构与群体智能算法相结合的方法，该方法通过构建统一的任务分配模型和路径规划模型，使各机器人能够根据自身状态及环境信息自主决策并动态调整行为策略。实验结果表明，采用此方法后，在多种典型场景下机器人的任务完成率提高了约20%，平均作业时间缩短了15%，且系统鲁棒性显著增强。
关键词：智能工厂 机器人协同作业 分布式控制架构
Abstract
With the promotion of Industry 4.0, intelligent factories have become the key direction of the transformation and upgrading of the manufacturing industry. Robot collaborative operation technology, as the core support technology of intelligent factories, has attracted much attention. This study aims to explore the collaborative operation technology of robots in intelligent factories to achieve efficient, accurate and flexible collaborative work among multiple robots. In view of the intelligent factory complex task requirements and environment characteristics, puts forward a based on the distributed control architecture and group intelligent algorithm method, the method by building a unified task allocation model and path planning model, make the robot can according to their own state and environmental information autonomous decisions and dynamically adjust behavior strategy. The experimental results show that after adopting this method, the task completion rate of the robot increases by about 20%, the average operation time is shortened by 15%, and the system robustness is significantly enhanced.
Keyword:Smart Factory Robot Collaborative Operation Distributed Control Architecture
目 录
1绪论 1
1.1智能工厂与机器人协同作业的背景 1
1.2国内外研究现状综述 1
1.3研究方法与技术路线 2
2机器人协同作业的关键技术 2
2.1多机器人协作控制算法 2
2.2信息交互与通信协议 3
2.3任务分配与路径规划 4
3协同作业中的感知与决策 4
3.1环境感知与建模 4
3.2实时决策机制设计 5
3.3异常处理与容错能力 6
4应用案例与系统实现 6
4.1典型应用场景分析 6
4.2系统架构与模块设计 7
4.3实验验证与结果分析 7
结论 2
参考文献 4
致谢 5
