Control of two 5 d.o.f. robots manipulating a rigid object

The paper presents an open structure controller for a system consisting of several robots, cooperating devices and diverse sensors. This controller has been successfully used for the execution of tasks by two 5 d.o.f. (degree of freedom) robots equipped with sensors. When dealing with two robots having less than 6 d.o.f each and manipulating a rigid object, extra problems arise, because most of the trajectories expressed in six-dimensional task space are not admissible. A technique for computing the accessible positions for an object handled by two cooperating robot arms is developed. This technique can be incorporated into a motion planning algorithm for the dual-arm system. The motion planning problem is decomposed into two subproblems: first, an admissible path finding, and second, planning the trajectory along the given path. For the experimental verification of the method of generating and executing admissible trajectories the open structure multi-robot research-oriented controller (MRROC) was used. The paper presents how to build a controller tailored to the task at hand on the example of two robots transferring a rigid object.