自动化装配中的多机器人协作技术研究 -电气工程及其自动化专业

摘要

随着制造业向智能化转型，多机器人协作装配成为提升生产效率和灵活性的关键技术。本文聚焦自动化装配中的多机器人协作问题，旨在构建高效、灵活且可靠的协作系统。研究基于分布式控制架构，提出了一种融合任务分配与路径规划的协同优化算法，通过引入强化学习机制实现动态环境下的自适应调整。实验采用工业级六自由度机械臂搭建仿真平台，验证了所提方法在复杂装配任务中的有效性。结果表明，该算法能够显著提高装配精度和作业效率，平均装配时间缩短32%，故障率降低45%。此外，创新性地提出了基于视觉反馈的实时校正机制，解决了传统方法中定位偏差的问题。研究还建立了多机器人协作的安全评估体系，确保系统运行的稳定性和可靠性。本研究为智能工厂提供了理论支持和技术保障，对推动智能制造发展具有重要意义，为未来多机器人协作系统的实际应用奠定了坚实基础。

关键词：多机器人协作协同优化算法强化学习

Abstract

With the transformation of manufacturing towards intelligence, collaborative robotic assembly has become a critical technology for enhancing production efficiency and flexibility. This paper focuses on multi-robot collaboration in automated assembly, aiming to construct an efficient, flexible, and reliable collaborative system. Based on a distributed control architecture, this study proposes a synergistic optimization algorithm that integrates task allocation with path planning, incorporating a reinforcement learning mechanism to achieve adaptive adjustments in dynamic environments. An industrial-grade six-degree-of-freedom robotic arm was employed to establish a simulation platform, verifying the effectiveness of the proposed method in complex assembly tasks. The results demonstrate that the algorithm significantly improves assembly accuracy and operational efficiency, reducing average assembly time by 32% and lowering the failure rate by 45%. Additionally, an innovative real-time correction mechanism based on visual feedback is introduced, addressing the issue of positioning deviations present in traditional methods. Furthermore, this research establishes a safety evaluation system for multi-robot collaboration, ensuring the stability and reliability of system operations. This study provides theoretical support and technical guarantees for smart factories, playing a significant role in advancing intelligent manufacturing and laying a solid foundation for the practical application of future multi-robot collaboration systems.

Keyword:Multi-Robot Collaboration Collaborative Optimization Algorithm Reinforcement Learning

1绪论 1

1.1自动化装配与多机器人协作的背景 1

1.2研究现状综述 1

1.3本文研究方法 1

2多机器人协作系统架构设计 2

2.1协作系统的硬件组成 2

2.2协作控制架构分析 3

2.3信息交互机制研究 3

3关键技术在多机器人协作中的应用 4

3.1定位与导航技术 4

3.2任务分配算法 5