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ANORDNUNG UND VERFAHREN ZUR AUFEINANDER ABGESTIMMTEN STEUERUNG VON WENIGSTENS ZWEI PARALLELKINEMATIK-ROBOTERN
ANORDNUNG UND VERFAHREN ZUR AUFEINANDER ABGESTIMMTEN STEUERUNG VON WENIGSTENS ZWEI PARALLELKINEMATIK-ROBOTERN
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机译:至少两个并联运动机器人协调控制的安排和程序
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摘要
There is disclosed an arrangement (10) comprising at least two parallel kinematic robots (12A, 12B) in close proximity to one another, the working areas of which overlap to form a larger overall working area covering a larger area and / or volume than the one individual work areas of each of the parallel kinematic robots (12A, 12B). The movement controls of manipulators (16) or tool carriers (26) movably suspended on actuating arms (20) of the at least two parallel kinematics robots (12A, 12B) are designed to form a movement and / or handling profile and / or handling profile coordinated within the overall work area Avoiding collisions of the respective actuating arms (20), manipulators (16) and / or tool carrier (26) matched to each other and / or coupled to each other under mutual consideration of the commands for the movements of the other manipulator (16) or tool carrier (26). The invention also relates to a method for the use and control of at least two parallel kinematics robots (12A, 12B) in close proximity to each other, the working areas of which overlap and form a comprehensive overall working area.
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