Kinematics Analysis and Path Planning of Dual-robot Coordinated Couple Motion

Abstract

Abstract:

This paper focused on the path planning of dual-robot coordinated couple motion when the tool end posture changed during the process of coordination. The method of replacing tool coordinate system of slave robot was proposed for offline slave robot path generation. The kinematics constraints analysis was presented at the beginning; then the steps and flow chart of the proposed method were illustrated; after that, a dualrobot experimental platform was estalbished; finally, the linear and circular coordianted couple motion with posture change were implemented. The analysis of results indicates that the proposed method, effective and accurate.

Key words: dual-robot, kinematics analysis, coordinated couple motion, path planning

CLC Number:

TP 242

ZHANG Tie,OUYANG Fan. Kinematics Analysis and Path Planning of Dual-robot Coordinated Couple Motion[J]. Journal of Shanghai Jiaotong University, 2013, 47(08): 1251-1256.

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