Features of the Formation of the Movement Queue in the Implementation of External Control of a Collaborative Robotic Complex

摘要

When operating collaborative robotic systems, it is necessary to solve the issue of ensuring the safety of a person who is in the working area of the robot. One of the options is to use an intelligent system that predicts the collision of a robot with a person and corrects the trajectory of the robot's movement. In this case, the new corrected trajectories can have a complex shape and consist of several simpler movements. The paper describes one of the important issues related to the transfer of the corrected trajectories to the robot controller - the organization and processing of the queue of movements. The paper describes the structure of a robotic complex with an intelligent control system. Specific models of equipment are given, on which an experimental sample of the robotic complex is built. The features of the operation of this equipment are described. Options for implementing interfaces for information exchange and possible modes of operation of equipment during information exchange are analyzed. Selected interface and mode of operation. The data transmitted to form the movement queue, their types and purpose are described. The structure of the data formed in the memory of the robot controller for storing and processing the queue of movements is described. The sequence of formation of the displacement queue is described. The sequence of operations during queue processing is described. The results of experimental approbation of the developed approach are presented.