Hybrid formation of multi-layer prepreg composite sheet layup

A robotic system, comprising:

• a memory for storing a dataset including start and end point pairs of a mold of a 3D part that defines a layup sequence;
• a first robot or a first robot arm that is configured to conform a prepreg layer or sheet onto the mold of the 3D part;
• a second robot or a second robot arm that is configured to hold or grasp the prepreg layer or sheet above the mold of the 3D part and stretch or relax the prepreg layer or sheet when the first robot or the first robot arm conforms the prepreg layer or sheet onto the mold;
• and
• one or more processors connected to the first robot or the first robot arm and the second robot or the second robot arm and configured to:
• generate a plurality of trajectories based on the layup sequence,
• coordinate a plurality of collision free movements for the first robot or the first robot arm with a plurality of collision free movements of the second robot or the second robot arm based on the plurality of trajectories,
• cause the first robot or the first robot arm to conform the prepreg layer or sheet onto the mold based on the plurality of collision free movements for the first robot or the first robot arm, and
• cause the second robot or the second robot arm to hold, grasp, stretch or relax the prepreg layer or sheet based on the plurality of collision free movements for the second robot or the second robot arm.