Identyfikatory
Warianty tytułu
A trajectory coordination model of two cartesian manipulators for a transport operation
Konferencja
Konferencja Naukowo-Techniczna Automatyzacja - Nowości i Perspektywy (12 ; 2-4.04.2008 ; Warszawa, Polska)
Języki publikacji
Abstrakty
W pracy przedstawiono model korekcji trajektorii efektora manipulatora kartezjańskiego realizującego wspólnie z drugim manipulatorem zadanie transportowe. Dla założonego elastycznego zamocowania przedmiotu transportowanego wprowadzona korekcja ma na celu ograniczenie zmian odległości pomiędzy efektorami manipulatorów. Dla modeli korekcji proporcjonalnej i proporcjonalnocałkującej i wybranych wartości parametrów modelu przeprowadzono symulację i przedstawiono wyniki.
In the paper a model of trajectory correction of a Cartesian manipulator cooperating with the second manipulator to transport an object is presented. For flexible mounting of a transported object to the robots proposed trajectory correction aims at limiting the change of distance between manipulators’ effectors. For the models of proportional and proportional-integral correction and selected values of model parameters simulation is performed and results are presented.
Czasopismo
Rocznik
Tom
Strony
688--697
Opis fizyczny
CD, Bibliogr. 17 poz., rys., wzory
Twórcy
autor
- Instytut Technologii Maszyn i Automatyzacji Produkcji, Politechnika Krakowska
Bibliografia
- [1] Ahmadabadi, M. N. & Nakano E. A. “Constrain and Move” Approach to Distributed Object Manipulation. IEEE Transactions on Robotics and Automation. Vol. 17, No. 2, pp. 157-172, April 2001
- [2] Arai, T.; Pagello, E. & Parker L. E. Editorial: Advances in Multi-Robot Systems. IEEE Transactions on Robotics and Automation, Vol. 18, No. 5, pp. 655-661, October 2002
- [3] Bohringer, K.; Brown, R.; Donald, B.; Jennings, J. & Rus, D. Distributed Robotic Manipulation: Experiments in Minimalism. Experimental Robotics IV, Lecture Notes in Control and Information, Springer Verlag, Berlin, 1997
- [4] Chaimowicz, L.; Sugar, T.; Kumar, V. & Campos, M. An Architecture for Tightly Coupled Multi-Robot Cooperation. Proc. of the 2001 IEEIE Int. Conf. on Robotics&Automation, Seoul, Korea, May 2001
- [5] Devendra, P.; Fath, A. & Martinez A. Real-time Open-Platform-Based Control of Cooperating Industrial Robotic Manipulators. Proc. of the 2002 IEEE Int. Symp. On Intelligent Control, pp. 428-433, October 2002
- [6] Farinelli, A.; Iocchi, L. & Nardi, D. Multirobot Systems: A Classification Focused on Coordination. IEEE Transactions on systems, man, and cybernetics - part B: Cybernetics, Vol. 34, No. 5, pp. 2015-2028, October 2004
- [7] Gerkey B. P. & Mataric M. J. Pusher-watcher: An approach to fault-tolerant tightlycoupled robot coordination. In Proceedings of the IEEE International Conference on Robotics and Automation, pp. 464-469, May 2002
- [8] Hisashi, Osumi & Tamio, Arai Cooperative Control between Two Position-controlled Manipulators. Proc. of the 1994 IEEE Int. Conf. on Robotics and Automation, pp.1509-1514, 1994
- [9] Khatib, O.; Yokoi, K.; Chang, K.; Ruspini, D.; Holmberg, R.; Casal, A. & Baader, A., Force Strategies for Cooperative Tasks in Multiple Mobile Manipulation Systems. Robotics Research: The Seventh International Symposium, pp. 333-342, 1996
- [10] Kosuge, K. & Oosumi, T. Decentralized Control of Multiple Robots Handling an Object. Proceedings of the 1996 IEEE/RJS International Conference on Intelligent Robots and Systems, pp. 318-323, 1996
- [11] Qin Chen & S. Luh, J. Y. Coordination and control of a group of small mobile robots. Proc. IEEE Int. Conf. Robotics and Automation, pp. 2315-2320, 1994
- [12] Qin Chen & Luh J. Y. Distributed Motion Coordination of Multiple Robots. Proceedings of the 1994 IEEE International Conference on Robotics and Automation, Vol. 3, pp. 2315-2320, 1994
- [13] Sasaki, J.; Ota, J.; Yoshida, E.; Kurabayashi, D. & Arai, T. Cooperating Grasping of a Large Object by Multiple Mobile Robots. Proceedings of IEEE International Conference on Robotics and Automation, pp. 1205-1210
- [14] Simmons, R.; Singh, S.; Hershberger, D.; Ramos, J. & Smith, T. First results in the coordination of heterogeneous robots for large-scale assembly. Proc. Int. Symp. Experimental Robotics, December 2000
- [15] Stilwell D. J.; & Bay J. S. Toward the Development of a Material Transport System using Swarms of Ant-like Robots. Proceedings, IEEE International Conference on Robotics and Automation, pp. 766-771, Atlanta 1993
- [16] Szynkiewicz, W.; Zielński, C.; Czajewski, W. & Winiarski. T. Control architecture for sensor-based two-handed manipulation. 16th CISM-IFToMM Symposium on Robot Design, Dynamics and Control, RoManSy'06, No. 487, pp. 237-244, June 2006
- [17] Uny Cao, Y.; Fukunka, A. F. & Kahang, A. B. Cooperative Mobile Robotics: Antecedents and Directions. Autonomous Robots, Vol. 4, No. 1, pp. 7-23.
Typ dokumentu
Bibliografia
Identyfikator YADDA
bwmeta1.element.baztech-dd6099c9-83ba-4b33-b5a9-79ec7e1c5a88