In the last years some industrial robots have been realized with two robot arms connected to a single rotating platform. Such a redundant structure allows moving the platform to adjust each robot base for optimizing each arm movement. In this paper, a planar model of two 7-axis robots connected to a rotating platform is proposed, and a novel analytical optimization procedure, retrieved from a geometrical analysis, is presented.
Analytical Movement Optimization of Dual-Arm Planar Robots with Rotating Platform
Bottin M.;Rosati G.;Boschetti G.
2021
Abstract
In the last years some industrial robots have been realized with two robot arms connected to a single rotating platform. Such a redundant structure allows moving the platform to adjust each robot base for optimizing each arm movement. In this paper, a planar model of two 7-axis robots connected to a rotating platform is proposed, and a novel analytical optimization procedure, retrieved from a geometrical analysis, is presented.
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MEDER 2021 - Analytical Movement Optimization of Dual-Arm Planar Robots with Rota.pdf
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