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

Andreas Angerer, Alwin Hoffmann, Lars Larsen, Michael Vistein, Jonghwa Kim, Michael Kupke and Wolfgang Reif

Production of carbon fiber reinforced plastics is nowadays mainly done by hand, as process automation is very difficult. This paper presents first steps towards robot-based automation of such complex processes: a simulation environment performing collision free motion planning for cooperating robots is combined with an object-oriented, real-time capable control framework for industrial robots. First qualitative results from an industrial setting are presented.
published 22.06.2016 accepted for: 47th Symposium on Robotics - International Symposium on Robotics 2016, Munich, Germany, June 21-22, 2016

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