Journal
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
Volume 28, Issue 5, Pages 569-582Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.rcim.2012.02.007
Keywords
Cooperative manipulators; Industrial robotics; Task planning; Coordinated motion
Funding
- MIUR (Italian Ministry of University and Research) [PRIN 2009, 20094WTJ29]
Ask authors/readers for more resources
In this paper a task-oriented motion planning approach for general cooperative multi-robot systems is proposed. In order to derive a meaningful task formulation, a taxonomy of cooperative multi-arm systems of industrial interest is devised. Then, a workpiece-oriented general formulation for cooperative tasks is proposed, where the user is asked to specify the motion of the system only at the workpiece level, while the motion of the single arms in the system is computed via kinematic transformations between the relevant coordinate frames. Based on this task formulation, an instructions set is derived to extend classical programming languages for industrial robots to general multi-robot systems. In order to test the approach, a software environment has been built, composed of an interpreter of the language and the motion planning software. (C) 2012 Elsevier Ltd. All rights reserved.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available