Collision Free Control of a Multi-Arm Testing Robot

Abstract A multi-arm testing robot system has been developed in which quadruple SCARA arms move simultaneously in a single working area. To avoid collision, the “occupied quadrant” algorithm is developed. Every quadrant is assigned for each arm and the testing points are selected as there are positive margins between the quadrants. Together with the linear continuous path control in the Cartesian space, with overlapped horizontal and vertical motion, and with simultaneous motion control for all arms, high speed collision-free movement was obtained. The minimum tact time was proved to be less than 0.1 second per moving distance of 8mm.