Cooperative Control of the Dual Gantry-Tau Robot

Abstract

Utilization of multiple parallel robots operating in the same work place and cooperating on the same job have opened up new challenges in coordination control strategies. Multiple robot control is a natural progression for Parallel Kinematic Machines (PKM) as it offers many of the desirable qualities especially in cooperative arrangements where multiple robots can be associated with an easily reconfigurable parallel machine. These special characteristics allow much faster and precise manipulations especially in manufacturing industries. With the possibility of cooperative control architecture, PKMs will be able to perform many of the tasks currently requiring dual serial robots such as complex assemblies, heavy load sharing and large machining jobs