Static accuracy of the coordination trajectories system for Cartesian robots

Execution of a manipulation task of a single object by two robots or welding operation realization when one robot moves an object whereas the other executes welding require continuous coordination of robots’ movements. In the paper basis of generation coordinated trajectories for Cartesian robots are presented. The proposed method relies on complicity introduction, to position controlled system, in the form of a corrective movement. Then static accuracy analysis was carried out for two cases: with force interaction between robots – like in the manipulation task, and without force interaction – a situation which corresponds to welding operations. For the defined form of correctors simulation model was built and the results were confirmed in simulation experiments