Since single robot has great limitations in executing tasks and is difficult to meet the market demand, the dual robot control system has become a research hotspot. This paper starts from solving the problems of complex cooperative motion programming and obstacle avoidance of dual-robot. In order to solve the problems of complex programming and obstacle avoidance for cooperative movement of dual-robot, a control system for cooperative movement of dual-robot with clear logic and simple programming is designed. This paper firstly analyzes the kinematics of dual-robot and solves the inverse kinematics to accurately control the robot, then a dual-robot control system with two ABB-IRB1410 robots as the research object and PLC-300 as the upper machine is designed. The offline programming workstation of the robot is built based on Robotstudio software. The joint Angle of the carrying position of dual-robot is calculated by solving the inverse kinematics, and the collaborative carrying is programmed by using the linear motion instruction of the MoveL robot. The linear motion instruction can make the end actuator of the robot move according to the given trajectory. The end attitude of dual-robot is consistent in the process of handling, and only 6 position points are used in the program to complete the workpiece handling, and simulation and experiment are carried out. The experimental results show that the dual-robot cooperative handling control and the system operation is stable, which is beneficial to further simplify the system design of dual-robot cooperative handling.
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Wang et al. (2024) studied this question.
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