Kinematic cooperation analysis and trajectory teaching in multiple robots system for welding

Multiple robots cooperation system has been widely used across the robotic research field, and many effective cooperation control strategies have been presented. However, few studies have been devoted to the application research for multiple robot cooperation system in industrial field, such as the flexible welding system. The problem of kinematic cooperation analysis and trajectory teaching for multiple robot flexible welding system is considered in this paper. An analytical solution to the problem is found, it gives the kinematic relation between cooperated robots in cartesian space. Based on our conclusion, a new trajectory teaching method for multiple robot flexible welding system is proposed in this paper. Finally, the work is completed with a set of simulations using two Puma 560 robots, in order to validate numerically the theoretical developments.