Method for determining motion paths satisfying placement method and singularity avoidance in cooperative motion using multiple cooperative robots

When multiple robots perform cooperative actions, several different paths can be traversed; however, a method for determining the paths among them has not yet been established. In factories, robots are placed based on their work ranges and maneuverability methods. However, this criterion alone may exert a large load on the robot’s joints. Therefore, this study proposes two new methods for determining the motion paths of robots in cooperative motion while satisfying the conditions above. The first method focuses on the torque exerting on the joints and examines the margin of the joint motor torque of a robot using an industrial robot to be used in actual production sites. The second method examines the effect of the rotation amount of the joint angle on motion accuracy by combining actual operations.