公开(公告)号：US11628568B2

公开(公告)日：2023-04-18

申请号：US17135797

申请日：2020-12-28

Applicant: INDUSTRIAL TECHNOLOGY RESEARCH INSTITUTE

Inventor： Huan-Sheng Li ,  Chien-Yu Wu ,  Han-Chun Hsueh ,  Shu Huang

IPC: G05D1/02 ,  B25J9/16 ,  B25J9/00

Abstract: A cooperative robotic arm system includes a first robotic arm, a second robotic arm and a controller. The first robotic arm has first working vector. The second robotic arm has second working vector. The controller is configured to: (1) control the first robotic arm and the second robotic arm to stop moving; (2) determine whether a first projection vector of the first working vector projected on a first coordinate axis and a second working vector projected on the first coordinate axis overlaps; (3) when they overlap, determine whether a third projection vector of the first working vector projected on a second coordinate axis and a fourth projection vector of the second working vector projected on the second coordinate axis overlap; and, (4). when they do no overlap, control a controlled-to-moved one of the first robotic arm and the second robotic arm to move along a reset path.