一个多智能体机器人协作装配系统

介绍了一个基于多智能体概念实现的多机器人协作装配系统——ＭＲＣＡＳ（Ｍｕｌｔｉ－ＲｏｂｏｔＣｏｏｐｅｒａｔｉｖｅＡｓｓｍｂｌｙＳｙｓｔｅｍ）。该系统由组织级计算机、三台工业机器人和一台全方位移动小车（ＯＤＶ）组成，采用分层递阶体系结构。利用ＭＲＣＡＳ系统进行了多机器人协作装配的实验：在ＯＤＶ装配平台上，四台机器人合作装配一个大型桁架式工件。该工件具有多种装配构型，但任何一台机器人不能独立完成装配。

This paper presents a Multi  Robot Cooperative Assembly System(MRCAS), which is implemented based on multi  agent system concept. The system is composed of a organizer computer, three industrial robots and an Omni  Directional Vehicle(ODV). The MRCAS is organized into a hierarchical architecture. The paper also describes the experiments with MRCAS: on ODVs assembly platform, the four robots assemble cooperatively a large frame  type workpiece, which has many final assembly construction forms and can not be assembled by only any one of the robots.

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