Analysis of wrench capability for cooperative robotic systems.
Julio Frantz1; Leonardo Mejia1; Henrique Simas1; Daniel Martins1
1 Federal University of Santa Catarina
doi:10.20906/CPS/COB-2015-0838
Resumo
Recently, industrial robots are being more and more widely used in a variety of machining applications, such as drilling, milling and grinding because of their flexibility in performing tasks in a relatively small space, and furthermore, at a lower cost. In many cases, the wrench capability of industrial robots is lower than the required, causing in some tasks the saturation of the joints. The possibility of using two or more robots to perform a given task increases the wrench capability, allowing us to workout in applications which are impossible to solve by using only one manipulator. A Cooperative Robotic System (CRS) increases the flexibility in the performance of tasks allowing a more homogeneous distribution of the forces generated during the interaction between the end-effector and the environment. In some cases, the CRS can be composed by robots with different capabilities, and a strategy for wrench distribution must be used. Recent works presented the force capability analysis using an scaling factor method for single serial robots. This paper proposes the use of this scaling factor method in CRS, seeking to obtain a balance of forces between the robots. The proposed method is discussed and graphical results are presented.
Palavras-chave: Robotics; Cooperative robotic systems; Force capability; Davies method; Screw theory