Development Of A Simulation Tool For Dual-Robot Collaboration And Collision Detection

Industrial robots are massively used in factories, this tendency result in crowdedworkspaces were manipulators perform tasks nearby other machines. This study has beendeveloped to avoid collisions between the Motoman HP6and HP20through an off-linesimulation.To that end, the two robots are converted into a mathematical model. Their mainmovementandpositionparametersaredefinedandtheirmechanicalstructurescalculatedandtested.Thetrajectoryis simulated according to the target points of the robots instructionliststo obtain the discrete position of every robot’s joints at every step of time. The robot is thenmodeled by cylinders with hemispherical ends. This simplification enables the detection ofpossible collisions through the calculation of the Euclidian distance between each cylinders.ThisalgorithmisimplementedinanumericalcomputingsoftwarecalledMatlab.Finally,theparts of the robots are designed with the3D drawing software Solidworks and implementedinto Simulink tomodel its mechanical structure and its movement.The result is a fully functioning Matlab function that provides the number of collisiondetected, the time at which they starts and the parts involved. It supports two types oftrajectories, the linear and the joint interpolation.The animation provides a clear view of therobot movement andthe possible collisions.This enables the user totest his paths and verifythe absence of collision.