Two algorithms are developed in this paper for the optimal motion coordination of a pair of industrial robots engaged in contact operations such as part machining or deburring. In the first algorithm the two robots jointly grasp a tool, and move it in such a way that it performs a prescribed contact operation along the surface of a workpiece. In the second algorithm, one robot grasps the tool while a second robot grasps and maneuvers the workpiece; both robots move simultaneously relative to each other so that the tool maintains contact with the workpiece while tracking a prescribed trajectory along its surface at a constant speed.
Motion Planning for Cooperative Robotic Systems Performing Contact Operations
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Tabarah, E., Benhabib, B., and Fenton, R. G. (December 1, 1994). "Motion Planning for Cooperative Robotic Systems Performing Contact Operations." ASME. J. Mech. Des. December 1994; 116(4): 1177–1180. https://doi.org/10.1115/1.2919505
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