Virtual-Datum Based Cooperative Kinematic Constraints Analysis for Dual-Robotic System

In the process of multi-robot collaboration, the movements of multiple robotic end effector usually have some certain cooperative kinematic constraints relationship. However, these kinematic constraints are often difficult to analyze, especially when the task is complicated. For this reason, a cooperative kinematic constraints analysis method based on a virtual datum is proposed in this paper, and the virtual datum is mainly constructed according to the geometrical characteristics of the object and the task requirements. As a result, the virtual datum is acting as a bridge to associate the position, orientation, and velocity of each robot’s end effector at any moment. Further, the coordinated motion planning and control of dual robots will be easily implemented.