Simultaneous coordination of robots with overlapping workspaces

Ćurković, Petar and Dubić, Krunoslav and Jerbić, Bojan and Stipančić, Tomislav (2012) Simultaneous coordination of robots with overlapping workspaces. = Simultaneous coordination of robots with overlapping workspaces. In: 23rd International DAAAM Symposium Intelligent Manufacturing & Automation: Focus on Sustainability, 21-28.10.2012, Zadar, Hrvatska.

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Abstract

The paper presents a novel approach to path planning for two decoupled robots with six degrees of freedom (DOF) each. The robots are placed so that their workspaces overlap. Thus each robot presents dynamic obstacle to the other one, whereas each robot is controlled with separate controller in a separated time domain. The method is based on analysis of the configuration spaces (C space) of the robots. For given initial and final configurations of the robots, considering a set of constraints, the algorithm successfully finds a set of intermediate configurations to ensure smooth, collision free transition from start to end configuration. The algorithm is tested in Fanuc’s physical simulation environment Roboguide, and successfully experimentally implemented on two Fanuc’s LR Mate 200iC/5L robots. The scenario is applied for assembly task of industrial thermo regulator, with assembly parts randomly distributed within the shared spaces of the two robots.

Item Type: Conference or Workshop Item (Lecture)
Keywords (Croatian): multi-robot path planning, real-time coordination, robotics
Subjects: TECHNICAL SCIENCE > Electrical Engineering
TECHNICAL SCIENCE > Mechanical Engineering
TECHNICAL SCIENCE > Basic technical sciences
Divisions: 900 Department of Robotics and Production System Automation > 920 Chair of Manufacturing and Assembly System Planning
Indexed in Web of Science: Yes
Indexed in Current Contents: No
Citations JCR: 0 (21.09.2018.)
Citations SCOPUS: 0 (21.09.2018.)
Date Deposited: 20 Sep 2016 06:48
Last Modified: 26 Mar 2019 13:57
URI: http://repozitorij.fsb.hr/id/eprint/6421

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