Research of a two parallel robots cooperation system

Abstract

The two robots cooperation system has been widely used across the robotic research field with many effective cooperation control strategies. In this paper, a novel two parallel robots cooperation system which can handle objects with large volume and heavy weight is developed by optimizing the traditional Cartesian parallel mechanism (CPM). Forward and inverse kinematics of the improved CPM-based parallel robot and the kinematic constraint of the two robots are derived. Moreover, the trajectories of two robots are planned based on the established kinematic models. An iterative learning control strategy is developed to control the driving torques in the robot joint space. Finally, the model of the system is established via SimMechanics and simulated in Matlab environment. The simulation results verify the effectiveness of the proposed robot system and control algorithm.