A multi-robot coordination system for manipulation of huge elliptical workpiece

This paper presents a kind of kinematics arithmetic of a multi-robot coordination system, facing to manipulation of huge elliptical ship module. This multi-robot system can adjust the position and pose of the elliptical workpiece in 6 DOF, by the coordination of multiple 3 DOF robots. Based on the motion strategy, the inverse kinematics arithmetic was given, and also a simplified arithmetic applied to real time control. A numerical example illuminates the feasibility and the precision.

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