Cooperative motion planning of dual industrial robots via offline programming

摘要

Motion planning of dual robots' complex cooperative operation need coordinating the position and posture constraints of robot end-effectors. It has been a key technical problem that hinders the complex tasks of dual robots. This paper presents a solution based on offline programming technology in the SolidWorks software environment. Firstly, the motion of the double robots is decomposed into space translation and space rotation according to cooperative task constraints. And then the assembly constraints and Motion function of SolidWorks software were used to reverse the path of cooperative motion. Further the offline programming plugin was applied to establish3D reference models of each robot curve motion and work out their collaborative path. Finally, the experimental study is carried out with coordinated spherical motion of two robots as an example. The experimental results show that the cooperative path planning of duplex robots based on offline programming can avoid the cumbersome motion pose solution and has the advantages of rapidness, visualization and flexibility.