| 英文摘要 | Modular ship building technology is the most general method in modem shipyard for a large ship's building, but it is still a labor-intensive industry, for its low automation level. With the development of robotics technology, the application of multi-robot coordination system has been paid more and more attention because of its advantages such as flexibility, parallelism and robustness that single robot cannot compare. The main result of this dissertation is to apply some theories and method of multi-robot coordination system into the projects of modular shipbuilding. Aiming at two technical difficulties, which are accurate joining between ship modules promptly and high quality welding of circumferential seam of ship hull, two set of multi-robot coordination systems are researched and applied into modular ship building. Firstly, the development and advantages of modular shipbuilding are introduced.The research development and main research directions of multiple robots coordination system are reviewed. The background and structure of this dissertation are also introduced. Secondly, as to high precision joining between ship modules, a control method based on multiple 3-DOF robots coordination is proposed. By this system, the pose of ship module can be adjusted in 6 DOF respect to the Descartes space. Based on the motion strategy, the inverse kinematics arithmetic is given, and a simplified arithmetic applied into real time control. Thirdly, a welding platform scheme for huge circumferential seam's sealing is proposed, which is composed of multiple 3 DOF robots. It can control the pose adjusting during the rotation of the ship module. As to the different part of the ship hull, the inverse kinematics arithmetic of cylindraceous , elliptical and conical ship modules are given respectively. Fourthly, in restraining axial-drifting during huge ship module's rotating, after a deeply analysis of interrelation of roller and ship hull, a restrain method, which cannot divert the seam during adjusting, is proposed. Also an auto-disturbances-rejection controller is introduced into this system, it can adjust the gradient of the ship hull in real time, in terms of the data of axial-drifting. Fifthly, a load distribution method subject to inequality constraints in multi-robot coordination system is proposed, based on an improved canonical nonlinear programming circuit. Considering different cases of constraints of gravity diversion, the load of huge ship module can be distributed to all of the robots optimatically. Sixthly, a centralized control system is developed, which is based on PC and a general field bus, to control the motion of robots in joining of ship modules and sealing of circumferential seam. Finally, the obtained results are summarized and future work is addressed. |
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