Robot Motion Synchronization in Cooperative Tasks

Abstract:

Article Preview

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 et al., "Robot Motion Synchronization in Cooperative Tasks", Solid State Phenomena, Vols. 166-167, pp. 63-68, 2010

Online since:

September 2010

Export:

Price:

$35.00

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

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