A high-performance multi-arm environment: Theoretical aspects and practical implementation

摘要

This paper reports on the development of a multi-arm robotic system, where the practical implementation of the system involves motion co-ordination of two multi-joint RTX robots with six degrees-of-freedom, hosted by a SPARC-IPC workstation. A planning scheme is introduced to provide accurate and co-ordinated collison-free motion. In addition, taking into account the need for high productivity in industrial environments, minimum-time movements are imposed by increasing the manipulators' performance to a maximum, thus providing a high-performance workcell. A real-time case study is included to show the validity and efficiency of the system.