As a crucial component of large aircraft, the assembly efficiency of aircraft skins directly impacts production efficiency. To achieve efficient manufacturing of aircraft skins, this paper proposes a multiple mobile robot control algorithm based on screw theory. The robot arm is integrated into a rail or AGV to increase its motion space, creating a mobile robot assembly system. To address the redundant degrees of freedom problem caused by the mobile manipulator, this paper adopts the screw theory to describe the motion of multiple robots. Furthermore, to ensure the constraint of the motion between multiple robots, this paper proposes a multi-robot control method based on screw constraint. Rigid body constraints are assigned to the end of each mobile manipulator, and the motion is decomposed to the mobile platform and the robot arm. Finally, the cooperative motion control of multiple mobile manipulators is realized. The proposed algorithm is applied in the multi-mobile manipulator cooperative aircraft panel assembly task, achieving efficient assembly of aircraft panel and long truss.

中文翻译：

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基于螺杆理论的飞机面板装配多移动机器人运动控制

飞机蒙皮作为大型飞机的重要组成部分，其装配效率直接影响生产效率。为了实现飞机蒙皮的高效制造，提出一种基于螺旋理论的多移动机器人控制算法。将机械臂集成到轨道或AGV中以增加其运动空间，从而创建移动机器人装配系统。针对移动机械臂带来的冗余自由度问题，本文采用螺旋理论来描述多机器人的运动。此外，为了保证多个机器人之间运动的约束，提出一种基于螺杆约束的多机器人控制方法。给每个移动机械臂的末端分配刚体约束，并将运动分解到移动平台和机械臂上。最终实现了多个移动机械臂的协同运动控制。所提出的算法应用于多移动机械臂协同飞机面板装配任务中，实现了飞机面板和长桁架的高效装配。