Automated Verification of Social Laws for Continuous Time Multi robot Systems

Abstract

In order to solve the problem that it is difficult to achieve better multi-robot coordination operation using the original control system in multi-robot cooperative systems, this paper conducts system modeling, control framework design and software development and verification experiments for multi-robot cooperative systems. We firstly model the system composed of multiple robots and operated objects. The coordination between any two robots can be divided into two categories: loose coordination and tight coordination according to the constraint relationship between the robots and the objects, based on which the kinematics and dynamics analysis of the multi-robot system is carried out. A multi-robot cooperative control framework is designed, which contains modules for task planning, force and position assignment, sensor information acquisition, position/force control and synchronization clock. On the basis of the multi-robot cooperative control system, the robot cooperative control software is designed and developed, and the software system contains, with excellent characteristics. Finally, an experimental environment containing three large-load EFORT industrial robots was established and experiments were conducted using the developed multi-robot cooperative control software to verify the usability and reliability of the software system.

Keywords

• Multi-robots cooperative system
• Control software development
• Robot control

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Acknowledgement

This work was supported by the Key-area Research and Development Program of Guangdong Province [grant numbers 2019B090915001].

In addition, the authors would like to acknowledge the following individuals for their contributions by providing technical insight and guidance to the authors.

Bowen Wang, Master. Harbin Institute of Technology Shenzhen.

Tao Chen, Master. Harbin Institute of Technology Shenzhen.

Author information

Authors and Affiliations

1. School of Mechanical Engineering and Automation, Harbin Institute of Technology Shenzhen, Shenzhen, 518055, China

   Tianhong Cheng, Zhiwei Wu & Wenfu Xu

Corresponding author

Correspondence to Wenfu Xu .

Editor information

Editors and Affiliations

1. Tsinghua University, Beijing, China

   Prof. Xin-Jun Liu

2. Tsinghua University, Beijing, China

   Zhenguo Nie

3. Beihang University, Beijing, China

   Prof. Jingjun Yu

4. Tsinghua University, Beijing, China

   Fugui Xie

5. Shandong University, Shandong, China

   Rui Song

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Cheng, T., Wu, Z., Xu, W. (2021). Multi-robot Cooperative System Modeling and Control Software Development. In: Liu, XJ., Nie, Z., Yu, J., Xie, F., Song, R. (eds) Intelligent Robotics and Applications. ICIRA 2021. Lecture Notes in Computer Science(), vol 13014. Springer, Cham. https://doi.org/10.1007/978-3-030-89098-8_2

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• DOI : https://doi.org/10.1007/978-3-030-89098-8_2

• Published: 18 October 2021

• Publisher Name: Springer, Cham

• Print ISBN: 978-3-030-89097-1

• Online ISBN: 978-3-030-89098-8

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