This paper presents the description of multi-robot system, its simulation and some experimental results. In order to describe kinematics and dynamics of a multi-arm system spatial algebra calculus can be used. The concept of spatial algebra was introduced by Rodriguez and Kreutz-Delgado [7]. This formalism was used by many authors, see for example references [2,9]. Rodriguez presented in [6] extensions of spatial algebra calculus for description of kinematic and dynamic behaviour of a system of multiple arms. Simulation results for two Puma 560 manipulators have been presented and discussed. Moreover, the paper presents the application of a recursive inverse kinematics algorithm to the kinematic control of a dual-arm system, which was experimentally tested on a setup of two industrial robot manipulators.
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