【摘要】 以生产环境下多机器人作业为背景 ,提出了一个虚拟制造中的多机器人作业仿真平台 ,讨论了平台的建模 (包括机器人本体及环境建模 )、碰撞检验、运动学分析、工作单元仿真、系统控制及多进程控制管理等关键问题 .在系统控制中提出了一个突发故障的处理策略 ,即在生产过程中 ,当某个机器人突然发生故障时 ,如何在不停止整个生产作业的同时 ,重新分配机器人的工作任务并使其周边的机器人覆盖其工作空间并代替它的工作的策略更多还原

【Abstract】 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 workcell simulation are discussed. The problem of production control and multi process control & management are also studied. Especially, A strategy is presented for such a case that, when one of the robots breaks down during the production process, how to reschedule and make other robots around it cover its workspace and substitute its work without having to stop the assembly line.更多还原