Simulation Model of Coordination Robot Trajectories with Load Sharing – 1D Case

Coordination of robots’ motion is required when two robots are to execute a single task. Presented algorithm of coordination robot trajectories is based on composition of two motions: a programmed one and a corrective one. In the former version of the algorithm programmed motion is a simple straight line motion to a fixed final position or may be defined as a set of Bezier curve segments. Corrective motion aims at keeping a constant relative distance between robots’ TCPs. Proposed modification of the algorithm takes into account distribution of load, caused by the weight of the manipulated part, between robots. For the clarity one dimensional case is considered with the gravity force along the direction of robots’ TCPs motion. To calculate force interaction between manipulated part and robots’ TCP a flexible connection with a defined stiffness is assumed. The algorithm is implemented as a simulation model and simulation results are presented.