Determining the Arrangement and Cooperative Operating Control of Two Industrial Robots During Wire Driving Tasks Considering Torque Margin and Manipulability Characteristics

Abstract

—When multiple robots perform a task, the user generally arranges the robots based on their working range. However, this criterion alone may place an unnecessarily large load on a robot joints. On the other hand, developments in IoT technology have facilitated the acquisition of servo information from robots and other devices. This information is expected to become increasingly important in the future. In this study, two small multi-joint robots are used to propose a method to determine robot placement based on criteria different from the robot working range. The proposed method is constructed by focusing on the joint torque working on the robot, which can be easily obtained using IoT technology. In addition, focusing on the torque margin and operating force ellipsoid derived from manipulability, we examine the cooperation of two robots to lift a weight that exceeds the range of motion of a single robot exerting a constant external force.