Concept and algorithms for the coordinated optimized path control of two robots

摘要

The concept to be presented enables an optimal trajectory synthesis for two kinematic chains cooperating in a common continuous path mode. The developed algorithms are applicable to arbitrary specified kinematic structures as well as world environments and performe the optimal trajectory generation for the participated kinematic chains with respect to all production task related restrictions based on a simple adaption to new or modified production tasks by appropriate choice of specifying parameters.