Some problems of multiple robot cooperation in manufacturing systems

• Autorzy: Galicki M. , Gawłowicz P.
• Języki publikacji: EN

Abstrakty

EN

In this work, an approach to collision-free cooperation of multiple robots is presented. It is based on the use of variational formulation of the Pontryagin Maximum Principle and the parametric decomposition method which make it possible to efficiently handle state constraints imposed on manipulator motions. The constraints result from mechanical and control limits of the robots and of the collision-free conditions. As opposed to the penalty-function method the proposed approach does not require an initial admissible solution (satisfying state constraints) and finds the optimal trajectories of a smaller cost than that calculated by the penalty-function method. A computer example involving two planar redundant manipulators is also given in the paper.

Słowa kluczowe

EN

automatics; robotics

PL

automatyka; robotyka

• Wydawca: University of Zielona Góra, Faculty of Economics and Management
• Czasopismo: Management
• Rocznik: 1998
• Tom: nr 3
• Strony: 66--77
• Opis fizyczny: Bibliogr. 11 poz., rys., wykr.

Twórcy

autor

Galicki M.

autor

Gawłowicz P.

• Department of System Management, Technical University of Zielona Góra