Winding of Carbon Wire Composite Structures Using Two Cooperative Industrial Robots

In this paper are presented aspects concerning new method of winding carbon wire to obtain composite structure using two cooperative industrial robots. The goal of this study is to use two robots working together for creating only one part obtaining faster cycle time like manual method. For this are proposed some collaboration methods between robots and different methods of trajectory plan. First proposed obstacle is when the position of the robots between them is unknown. For this is proposed a calibration algorithm for robot positions. The collaboration must be very fast. For this the proposal is to use direct communication between robots using digital inputs and outputs. For trajectory planning is involve the virtual space for designing and testing the trajectory and then transpose the results in real robots controller.