Planning and Execution of Collision-free Multi-Robot Trajectories in Industrial Applications

Abstract

The use of carbon fiber reinforced plastics (CFRP) has been increasing much recently, in particular in the aircraft industry. The production of CFRP today is mainly done by hand, the automation of the production process using robots is still difficult due to large and numerous pieces of raw material which must be handled carefully. This paper demonstrates an approach that applies a collision free motion planner to use multiple robots for flexible production of CFRP parts. The required cooperative motions and tool actions are completely planned and simulated offline. Then, they are executed with an innovative robot programming framework that allows for real-time control of industrial robots with modern objectoriented applications.