Collision-free path planning for two robot arms operating in a common workspace

With the advancing introduction of robots on production lines, increasing demands on the use of space with the needs to minimise throughput time and maximise machine utilization are gaining significant importance. These needs can be partly satisfied by the use of multiple robotic systems to operate at the same time within the same workspace. The need to use such multiple robotic systems is evident in some assembly operations where it is impractical to move one part at a time, and in tasks involving the cooperation of several robots. When multiple robots are operating within a common workspace collisions between them and other objects may bring robotic installations to a standstill. Most of work done in this area, including this paper deals with two loosely coupled robots