A robot system which is intended to perform combination work is studied. The robot system combines randomly placed jigsaw puzzle parts via coordinated motions of three robotic arms and conveyor belt.
In particular, a motion planning and program facility are developed in manipulator controller of the robot system with combination capability. Further, a motion planning is proposed, which generates efficient plans for complicated systems. The manipulator controller, consisting of two MC68000 based microcomputers, is programmed so as to coordinate motions of three robotic arms simultaneously and to supplement a trajectory planning by linear interpolation.
The basic software for floating point arithmetic is established in the manipulator controller, which enables all computation of motion part to be done by 68000 assembly language.
