Implementation of Collaborative Work Between Two SCARA Robots in a Robotic Cell for Continuous Classification of Products

The article shows the implementation of collaborative work in a production line between two SCARA robots, for the classification of moving parts, applying open source software for the communication of the entire work cell. A task planner was designed which is responsible for assigning corresponding actions to each SCARA robot, through a state machine. An analysis of efficiency, production, time reduction, among other aspects, was performed for one of the most frequent industrial applications such as pick and place. Based on the indicator of Real Production Efficiency (RPE), a comparative analysis was carried out in order to know the level of the project in relation to large industries worldwide.