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Dual-arm Robot Fast Pick-and-Place on a Moving Conveyor

The pick-and-place (PNP) system of multi-robots on moving con- veyors have a wide range of industrial applications. In practice, the most used is first in first out (FIFO) algorithm. However, the efficiency of FIFO is low when the number of objects to be picked is large. To improve the PNP efficiency, we first build a kinematic model of the dual-arm robot and establish a PNP time lookup table based on the inverse kinematic algorithm. Then, we develop a PNP shortest time first out (STFO) algorithm to calculate the high-efficiency picking sequence. Dynamic experiments show that compared with FIFO, we improve the dual-arm robot PNP system efficiency by 20%.