CONTROL MODEL AND ALGORITHM FOR COOPERATIVE MOTION OF TWO SIX-AXIS ROBOTS

摘要

A standard master-slave relationship-based method for temporally and spatially synchronizing motion of two robots. A master robot is the primary source of a moving coordinate system followed by a slave robot; mutual spatial positions of the robots are defined by means of an additional base coordinate system and a target offset relative to the moving coordinate system. Cooperative motion of two robots is achieved.