Control Algorithm Trajectory Planning for Dual Cooperative Manipulators with Experimental Verification
College of Mechanical and Electrical Engineering, Beijing University of Chemical Technology, Beijing 100029, China
In order to achieve cooperation of multi-robots simultaneously, this paper presents an approach of Trajectory planning for two decoupled robots with six degrees of freedom (DOF) each to execute packing task. The Denavit-Hartenberg (D-H) representation is used to model robot links and solve the transformation matrices of each joint. The inverse kinematics solution using for a 6- DOF Robotic arm is presented, for given initial and final configurations of the robots, the robots are placed so that their workspaces overlap. An algorithm successfully finds a set of configurations to ensure, collision free transition from start to end configuration. Simulation and experiments based on 6-dof robot are carried out and the results verified the effectiveness of the proposed algorithm.
© The Authors, published by EDP Sciences, 2016
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