1. Project Introduction

The high-speed, multi-axis non-standard dual-arm robot completes material retrieval and lamination in confined space. It adopts an embedded controller, real-time system and EtherCAT control bus, and the algorithm is real-time. Independently develop motion control algorithms, kinematic control and dynamic algorithms, which can realize offline programming and online teaching functions.

2. Cooperation content

Develop a high-speed, multi-axis non-standard dual-arm robot to complete material retrieval and lamination in confined spaces (Taking off beat ≤2 seconds) Work, technical content: 1) Adopt embedded controller and real-time system, adopt EtherCAT real-time bus, and the algorithm cycle period can reach 500μs2) Complete robot kinematics analysis and working path planning according to the operating characteristics of non-standard robot to realize motion control functions;3) The robot realizes dynamic simulation and control; 4) Network communication and offline programming technology, with network communication functions such as serial port and EtherCAT to realize offline programming control of the robot by the upper computer.

3. Project implementation unit

[Li Jun Research Group] Robot and Intelligent Systems Laboratory: It is mainly engaged in research in related fields such as adaptive control of robots and systems, environment perception and cognition based on machine vision, and human-computer interaction, and is committed to the intelligence and simplification of robot system control. At present, the laboratory takes the lead in undertaking many major national, provincial and municipal R & D tasks such as the National 13th Five-Year Plan, the Major Science and Technology Project of Fujian Province, and the Generation of CNC CNC in Quanzhou City. It maintains close technical cooperation with well-known universities and enterprises at home and abroad, and has achieved a series of original and practical research results. The overall scale of the laboratory is more than 200 square meters. It has a variety of robot development platforms including KUKA, Yaskawa, and Epson, and a variety of environmental, motion and biological signal acquisition systems based on inertia, electromagnetic, optical, and biological signals. While conducting research on robot systems, the laboratory is also responsible for scientific and technological support and technological transformation for local industries. It has signed cooperation agreements with a number of companies and jointly built a technology research and development base with the two companies, involving footwear and machinery manufacturing. and other fields. At present, there are 21 scientific researchers in the laboratory, including 4 doctoral students and above, 10 master's degree students, and 7 master's degree students.