Name
Abstract | ||
|---|---|---|
Purpose - This paper aims to report a novel practical algorithm for manipulation planning of multiple articulated robots.Design/methodology/approach - This paper proposes a model-based approach to distributing trajectory segments to individual robots in a multirobot system, given a task in terms of trajectories. This approach consists of three modules: task trajectory generation, cooperative robots selection, and joint trajectory generation.Findings - The proposed algorithm has been implemented into a simulation system with four-planar robots and a multirobot-packing system, which has shown the effectiveness of the presented method. It improves the flexibility of robot cooperation and handles dynamically cooperative trajectories by using a modularized mapping from Cartesian space to joint space of robots.Research limitations/implications - The reported research has been developed for task-oriented applications with prior knowledge. Future work will focus on acquiring prior knowledge using vision systems.Practical implications - The key contribution of this paper is that it offers a practical real-time solution to task-oriented applications. For instance, the proposed method could close the gaps and significantly improve work efficiency in carton packing involved in industrial chains.Originality/value - The reported work allows a multirobot system realtime, dynamically distributing trajectory segments to individual robots for task-oriented applications. Industrial practitioners would benefit from employing it in their existing systems, e.g. the car assembly industry. |
Year | DOI | Venue |
|---|---|---|
2008 | 10.1108/01439910810843270 | INDUSTRIAL ROBOT-AN INTERNATIONAL JOURNAL |
Keywords | Field | DocType |
modelling, robotics, interactive devices | Simulation system,Simulation,Control engineering,Artificial intelligence,Engineering,Robot,Trajectory,Robotics,Cartesian coordinate system,Multirobot systems,Automotive industry | Journal |
Volume | Issue | ISSN |
35 | 1 | 0143-991X |
Citations | PageRank | References |
0 | 0.34 | 25 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Honghai Liu | 1 | 1974 | 178.69 |
| Jian S. Dai | 2 | 178 | 30.53 |
| Lakmal D. Seneviratne | 3 | 577 | 70.91 |