Robot Motion Synchronization in Cooperative Tasks
| Periodical | Solid State Phenomena (Volumes 166 - 167) |
|---|---|
| Main Theme | Robotics and Automation Systems |
| 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 | Theodor Borangiu et al., 2010, Solid State Phenomena, 166-167, 63 |
| Online since | September, 2010 |
| Authors | Theodor Borangiu, Florin Daniel Anton, Silvia Anton |
| Keywords | Cooperative Robot, Ethernet Communication, I/O Communication, Motion Synchronization, Robot Control |
| Price | US$ 28,- |
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.
