Path Constraint Relation and Trajectory Teaching Method for Multi-Robot Cooperation System

Based on the relative motion between the pose of cooperated multi-robot end-effectors,the trajectory constraint relation of the cooperative robots is analyzed and a practicable teaching method is proposed.Firstly the method analyzes the kinematic constraint relation between the cooperative robots.According to relative motions between cooperative robot endeffectors,cooperative motion can be divided into two types,coupled motion and superposed motion.Then,the kinematic constraint relation equation of the pose of master-slave robot end-effectors in the Cartesian coordinate system is given in the two motion types.Based on the constraint equation,a trajectory teaching method for multi-robot cooperation system is proposed.Finally,two-robot cooperation system for welding is set up,using which the constraint relation is testified and the teaching method proposed is validated.