Paper Title:
Robot Motion Synchronization in Cooperative Tasks
  Abstract

This paper discusses the problem of synchronizing multiple robots in cooperative tasks. The problem is divided in two parts: first the problem of synchronizing robots which are handling large objects that cannot be manipulated only by one robot (hard connected robots) is discussed; the problem is approached from the point of view of path planning, kinematics, and movement synchronization. An alternative of control using the force control and dynamics which solved by using a decentralized control structure is also presented. The second problem concerns robot synchronization in a shared workspace; here is presented a method of control for collision avoidance and time optimization for the robot tasks (assembly / disassembly). In the conclusion section the results from the experiments conducted on two SCARA type robots (Adept Cobra s600) are presented.

  Info
Periodical
Solid State Phenomena (Volumes 166-167)
Edited by
Cornel Brișan, Vistrian Mătieș, Sergiu-Dan Stan and Stelian Brad
Pages
63-68
DOI
10.4028/www.scientific.net/SSP.166-167.63
Citation
T. Borangiu, F. D. Anton, S. Anton, "Robot Motion Synchronization in Cooperative Tasks", Solid State Phenomena, Vols. 166-167, pp. 63-68, 2010
Online since
September 2010
Export
Price
$32.00
Share

In order to see related information, you need to Login.

In order to see related information, you need to Login.

Authors: Dorian Cojocaru, Giuseppe Boccolato, Ionut Dinulescu, Alice Predescu, Florin Manta, Sorin Dumitru
Abstract:This paper presents the architecture, simulation, implementation and control problem for a class of continuum manipulators – the truncated...
127
Authors: Nadia Ramona Rat, Mircea Neagoe, Sergiu Dan Stan
Abstract:The paper presents a comparative dynamic modeling and VR (virtual reality) simulation for two 3 DOF medical parallel robots: a three coupled...
345
Authors: Tie Jun Zhao
Abstract:This research is aimed at dynamically stable motion and safety of mobile humanoid robots expected to work in a human living space. The...
1978
Authors: Yong Cheng Jiang, Cheng Long Zhang, Zhong Wei Sun, Feng Wei Xie, Zhi Feng Zhang
Chapter 9: Vibration and Control
Abstract:In order to expand the processing methods of the space complex curved surface parts, serial robots are introduced into the wire-cutting...
1208
Authors: Pouya Jamali, Kourosh H. Shirazi
Chapter 6: Robotics: Modelling, Simulation etc.
Abstract:In this paper, virtual prototype modeling, simulation and optimization of a 3 DOF SCARA robot as an example of robot manipulators, based on...
383