Semi-synchronous Movements of Two Collaborative UR10e Robots Controlled by Matlab via TCP/IP Protocol

Collaborative robots are mainly used in the applications where human-robot cooperation is required. In some applications heavier objects should be manipulated for the worker to assembly the required piece. Matlab program and TCP/IP protocol was used to establish a successful communication and to develop a control algorithm to perform semi-synchronous movements with two collaborative UR10e robots. Main application was to manipulate an object with both robots simultaneously. Matlab main task was to calculate new position and orientation for the object manipulation and send it to both robots. Matlab program was also responsible for synchronization of both robots. A successful demonstration was presented for translational and rotational manipulation of the object around its own coordinate system while both collaborative robots grab, manipulate and release the object.