Online generation of collision-free trajectories for multiple robots in a shared workcell

Abstract

This paper addresses the problem of on-line collision-free trajectory generation for multiple industrial robots performing Printed Circuit Board (PCB) assembly operations in a shared workspace. Here, an integrated system is proposed for the on-line safe movement generation based on the stable first-order dynamical systems (DS). The proposed method is inspired by the complex potential function and obstacle avoidance proceeds by modulating the original dynamics of the robot discrete motion. The modulation is based on the analytical representation of the present obstacle and given the original dynamical system definition of the robot discrete movement. Experiments are performed with two SCARA robots in a shared workspace for verifying and evaluating the integrated system.