大型复杂构件多机器人移动加工的自律跟踪与协同控制

本项目针对超大型复杂构件高效、自适应加工难题，将移动机器人技术、数字制造技术与人工智能技术相结合，构建移动机器人自适应加工新原理与新装备。项目围绕柔顺末端执行器、双机器人协同控制、高效原位精确测量等开展研究，具体内容包括：（1）移动加工系统力-位双闭环末端执行器设计与控制；（2）复杂约束下多机器人协同运动规划与控制；（3）大尺寸复杂构件局部原位精确测量与整体高效重构；（4）机器人移动加工系统原型构建与试验验证。预期将建立大型复杂构件多机器人移动加工的自律跟踪与协同控制理论，通过研制力-位混合控制的主动柔顺末端执行器，实现机器人装备对零件的主动顺应，并通过双机器人协同控制与高效原位测量技术，实现弱刚性超大型复杂构件高效自适应加工。研究成果对推动我国大型复杂结构件的自动化、智能化制造水平，促进我国机器人化智能制造装备技术发展具有重要意义。

This project is inspired by the challenge of the efficient and adaptive machining for large-scale components. By integrating mobile robotics, digital manufacturing technology and artificial intelligence technology，this project aims at constructing new principle and new equipment for adaptive machining through mobile manipulators. The project focuses on the research of compliant actuator, dual-robot cooperative control and efficient in-situ accurate measurement, including: (1) Design and control of end effector with force-position double closed-loop in mobile machining system; (2) Multi-robot cooperative motion planning and control under complex constraints; (3) Local in-situ precise measurement and efficient global reconstruction of large-scale complex components; (4) R&D and experimental verification of the robot mobile machining system prototype . On the basis of these research, an autonomic tracking and cooperative control theory for multi-robot mobile machining for large-scale complex components is expected to be established; The active compliance of the robot equipment to the parts will be realized by the force-position hybrid control of the active compliant actuator; Through the dual robot coordination control and efficient in situ measurement technology, it is expected to realize efficient adaptive machining of the large complex component with low-rigidity structure. The outcome of this project will significantly promote the national level in automation and intelligent manufacturing of large-scale complex components, and will facilitate the technology development of robotized intelligent manufacturing equipment.