Synchronizing Robot Motions in Cooperative Tasks
- Authors
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Florin Anton
Automation and Applied Informatics Department, Politehnica University of Bucharest, RO 060032 Bucharest, Romania
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Silvia Anton
Automation and Applied Informatics Department, Politehnica University of Bucharest, RO 060032 Bucharest, Romania
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- Abstract
- This paper discusses the problem of synchronizing multiple robots in cooperative tasks. The problem is divided in two parts: first the problem of synchronizing robots which are handling large objects that cannot be manipulated only by one robot (hard connected robots) is discussed; the problem is approached from the point of view of path planning, kinematics, and movement synchronization. An alternative of control using the force control and dynamics which solved by using a decentralized control structure is also presented. The second problem concerns robot synchronization in a shared workspace; here is presented a method of control for collision avoidance and time optimization for the robot tasks (assembly/disassembly). In the conclusion section the results from the experiments conducted on two SCARA type robots (Adept Cobra s600) are presented.
- References
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- Published
- 2011-03-25
- Issue
- Vol. 13 No. 1 (2011)
- Section
- Articles