Three-Dimensional Trajectory Planning for Multi-Robot Collaboration in Complex Components with Heterogeneous Materials

Xinyu Wang1,2; Yueyu Wu3; Gong Zhang1,2; Jianzheng Qi3,4; Heyu Wang3,4; Si Di3; Qunxu Lin5

10.1109/RAAI59955.2023.10601199

2023-12-16

979-8-3503-0757-3

2023 3rd International Conference on Robotics, Automation and Artificial Intelligence (RAAI)

14-16 Dec. 2023

Singapore, Singapore

A multi-robot collaboration can reliably perform complex tasks that would be difficult for a single robot to accomplish, especially advanced welding operations in complex components with heterogeneous materials. We focused on a three-dimensional (3D) trajectory planning for complex components with heterogeneous materials, and carries out the research of multi-robot collaboration. By using the software of robot simulator CoppeliaSim, the comparative simulation analysis of multi-robot active-slave and distributed in 3D intersecting line was proposed. Through the establishment of multi-robot collaborative experiment system, the trajectory planning of multi-robot axial motion with semi-∞ was put forward. Simulation and experimental results show that our proposed multi-robot system is feasible and is capable of realizing 3D trajectory planning for complex components with heterogeneous materials.

第一

1.Southern University of Science and Technology, Shenzhen, China
2.Shenzhen Institute of Advanced Technology, CAS, Shenzhen, China
3.Guangzhou Institute of Advanced Technology, Guangzhou, China
4.Fujian University of Technology, Fuzhou, China
5.Wuyi University Jiangmen, China

Xinyu Wang,Yueyu Wu,Gong Zhang,et al. Three-Dimensional Trajectory Planning for Multi-Robot Collaboration in Complex Components with Heterogeneous Materials[C],2023.