基于ZigBee+RFID的智能装配多机器人协作系统研究

摘要

A kind of multi robots cooperative system of intelligent assembly is presented,which is composed of ZigBee networks for communication and positioning,RFID equipments,some robot mechanical structures and hardware circuits.The robots moved by guidance of RRSI positioning and tracking,real-time communicated and cooperatively worked including identification,grasp, carry and assembly to the workpiece.The design of system function and hardware structure is described,and the algorithm of wire-less location and cooperative assembly is analyzed.The experiment shows that the system accurately and reliably realizes the co-operative assembly,and is applicable to improve the robot′s intelligence and work efficiency.%设计了一种智能装配多机器人协作系统,由ZigBee网络为通信和定位平台,配合RFID设备,以及一些机器人机械结构和硬件电路构成.采用RSSI定位和循迹相结合引导机器人行走,多机器人实时通信,协作完成工件的识别、抓取、搬运和拼装作业.阐述了系统功能和硬件结构的设计,分析了无线定位和协作装配的算法.实验证明,系统准确、可靠地实现了多机器人协作装配,可应用于提高机器人的智能程度和作业效率.