A differential motion planning algorithm for controlling multi-robot systems handling a common object

• Autorzy: Tzafestas C. , Prokopiou P. , Tzafestas S.
• Języki publikacji: EN

Abstrakty

EN

Multi-robot systems have substantially increased capabilities over single-robot systems and can handle very large or peculiar objects. This paper presents a differential (incremental) motion planning algorithm for an m-robot system (m >or=2) to cooperatively transfer an object from an initial to a desired final position / orientation by rigidly holding it at given respective points Q[sub 1], Q[sub 2],..., Q[sub m]. One of the robots plays the role of a "master" while other robots operate in the "slave" mode maintaining invariant their relative positions and orientations during the system motion. The method employs the differential displacements of the end-effector of each robot arm. Then, the differential displacements of the joints of the m robots are computed for the application of incremental motion control. The algorithm was tested on many examples. A representative of them is shown here, concerning the case of three STAUBLI RX-90L robots similar to 6-dof PUMA robots. The results obtained show the practicality and effectiveness of the method, which, however, needs particular care for completely eliminating the cumulative errors that may occur.

Słowa kluczowe

EN

cooperative robots; incremental robot motion planning; manipulator kinematic; master and two-slaves system; multi-robot kinematics; multi-robot systems; path planning; rigidity condition

PL

robot

• Wydawca: Systems Research Institute, Polish Academy of Sciences
• Czasopismo: Control and Cybernetics
• Rocznik: 2000
• Tom: Vol. 29, no 2
• Strony: 567--584
• Opis fizyczny: Bibliogr. 40 poz.,Rys., wykr.,

Twórcy

autor

Tzafestas C.

autor

Prokopiou P.

autor

Tzafestas S.