Modeling and Simulation of the Multiple Robot’s Applications

摘要

This paper explains and demonstrates how can designed one multi robots application with many tasks and some different type of modular collaborative robots. Was described the general mathematical model for the direct and inverse kinematics to controlling the robots and how can solve the inverse kinematics of multiple tasks by using the priority of tasks or serial tasks composed by sum of the weighted several tasks. Some collaborative multi robots applications with parallel, serial or composed robots configurations were shown. The general mathematical matrix model of the robot application point with three translations and three rotations to the world Cartesian coordinates of the application map was defined. The designed method, the animation programs and the used LabVIEW proper virtual instruments open the way to easily define the multi robots application map, establish the constraints of the used robots and of the environment to avoid the singular points and tests the manipulation programs for collaborative application.