Multi Robot Flexible Welding Control for Complex Environment Tasks

The existing master-slave relationship among multiple machines is generally fixed. In the process of performing tasks, the master-slave relationship between machines cannot be switched online, which limits the adaptability of multiple robots to complete complex tasks. Therefore, master-slave coordinated control has become an important research direction of flexible welding. Aiming at the application background of robot flexible welding of complex structural parts, a multi robot master-slave coordinated motion control system is designed, in which the centralized control architecture, periodic synchronous position mode and general multi robot master-slave coordinated motion control algorithm are adopted to realize the coordinated motion control of slave robots. The experimental results show that the multi robot master-slave coordinated motion control algorithm proposed in this paper is universal, the designed master-slave coordinated motion control process is reasonable and effective, the developed master-slave coordinated motion programming instruction set is convenient and efficient, and the on-line switching function of multi robot master-slave state is realized, which provides a technical basis for further improving the flexibility of robot welding system for complex structural parts.