Abstract
In the present study, the Controllable Instantaneous Screw Axes (C-ISA) 1 and C-ISA 2 shape variable angles are modified independently to realize various rule-based work spaces and trajectories for multi collaborative robot control. The toolbox developed previously is used to obtain the algorithm of the workspaces for 2-RR collaborative multi-robots herein. Six collaborative multi-robots are exploited to design the intersecting workspaces with generated trajectories. The classifications of the workspaces are unveiling the boundaries of the collaborations for the six multi-robots of the 2-RR (Revolute Revolute). The recent developments are showing that the multi-robots are embedding into the automation systems to achieve the novel requirements of the challenging technology. Therefore, the workspace algorithms developed herein are prepared to be utilized by these automation systems.
Highlights
The 2-RR macro modular collaborative multi-robots are chosen as fundamental serial mechanisms which contain the minimum number of joints for a spatial robotic
The reduced shape variable values are θ1 =0-5π/6 and θ2 =0-5π/6 radians with i = 1-6 for the workspaces defined as Conclusion This study generates the rules and algorithms for the design of the 2-RR workspaces of the collaborative multi-robots. These mathematical and kinematic rules with the developed algorithm are the novelty of this research article
The multi collaborative robots shall use these algorithms for trajectory generations without collisions
Summary
Programmable workspaces are required for collaborative robots. The goal is to include the least number of revolute joints for a compact design to obtain the required precise workspaces or trajectories for the collaborative multi-robots. Having designed the modular multi-collaborative robots with 2-RR spatial mechanisms, the combination of the modular workspaces leads to generating the modular spatial chain. The rule-based workspace design covered in this study is related to the relative rule definitions between the C-ISA angles of the shape variables of the α1-4 and θ1,2 for the C-manifold skew revolute mechanism of the collaborative robots. Having constructed the conceptual animation-based workspaces, they are aiding to visualize the robot motion planning They are confining the algorithmic programming process of the multi-robots for collaborative robots. The purpose of this study is generation of the collaborative multi-robot workspaces systematically using the developed mathematical algorithms of the Lie algebra
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