Kinematics analysis and self - collision detection of Truss type multi-robot cooperative welding platform

Abstract A collaborative welding platform consists of a XYZ-mobile truss, a 3R (revolute joint) clamping robot and a dual-arm welding robot. Based on Denavit-Hartenberg (D-H) method, the analytical inverse kinematics solution of the platform is obtained. Dual-arm coordination is a technical difficulty in robot control field. Focusing on self-collision problem during dual-arm robot motion planning, this paper proposes a new obstacle avoidance algorithm based on Rapidly Exploring Random Tree (RRT) algorithm. Setting searching area founded on artificial potential field (APF) algorithm and adopting note-pruning strategy achieves high searching efficiency. Simulation results verify the correctness of kinematics analysis and self-collision detection algorithm.