【摘要】 以多机器人装配作业为背景， 研究了虚拟制造中多机器人虚拟生产平台系统的几何及运动学建模、多机器人协调合作策略、多机器人工作空间分配、机器人手臂的碰撞检验和避碰以及装配线意外故障的处理等关键问题， 最终构建起一个完整的多机器人虚拟生产平台。更多还原

【Abstract】 In this paper, a simulation platform in virtual manufacturing is presented based on multi robot process. Issues of modeling for robots and their environment, collision detection, kinematics analysis and sudden case handling are discussed. The problem of production control and multi robot coordination and cooperation control are also studied.更多还原