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Article: Intelligent planning and control for multirobot coordination: An event-based approach

TitleIntelligent planning and control for multirobot coordination: An event-based approach
Authors
Issue Date1996
Citation
IEEE Transactions on Robotics and Automation, 1996, v. 12, n. 3, p. 439-452 How to Cite?
AbstractA new planning and control scheme for multirobot coordination is presented. First, the event-based planning and control theory is introduced. The most important step is the design of an event-based motion reference for the multirobot system. It drives the system to achieve the best possible coordination. Hybrid position/force controllers which are able to perform a large class of tasks are designed based on the combination of general task space with the well-known nonlinear feedback linearization technique. To improve the force control performance, the dynamics of joint motors have been considered in the force control. For a given task, a task projection operator can be found for each robot with the consideration of redundancy management. It projects the feedback linearized model to the actual task space. A distributed computing architecture is proposed to implement this scheme in a parallel computation. The event-based coordination scheme was experimentally implemented and tested for the coordinated control of two 6 DOF PUMA 560 robots with very good results. © 1996 IEEE.
Persistent Identifierhttp://hdl.handle.net/10722/212673
ISSN
2004 Impact Factor: 2.126
2007 SCImago Journal Rankings: 2.436

 

DC FieldValueLanguage
dc.contributor.authorXi, Ning-
dc.contributor.authorTarn, Tzyh Jong-
dc.contributor.authorBejczy, Antal K.-
dc.date.accessioned2015-07-28T04:04:38Z-
dc.date.available2015-07-28T04:04:38Z-
dc.date.issued1996-
dc.identifier.citationIEEE Transactions on Robotics and Automation, 1996, v. 12, n. 3, p. 439-452-
dc.identifier.issn1042-296X-
dc.identifier.urihttp://hdl.handle.net/10722/212673-
dc.description.abstractA new planning and control scheme for multirobot coordination is presented. First, the event-based planning and control theory is introduced. The most important step is the design of an event-based motion reference for the multirobot system. It drives the system to achieve the best possible coordination. Hybrid position/force controllers which are able to perform a large class of tasks are designed based on the combination of general task space with the well-known nonlinear feedback linearization technique. To improve the force control performance, the dynamics of joint motors have been considered in the force control. For a given task, a task projection operator can be found for each robot with the consideration of redundancy management. It projects the feedback linearized model to the actual task space. A distributed computing architecture is proposed to implement this scheme in a parallel computation. The event-based coordination scheme was experimentally implemented and tested for the coordinated control of two 6 DOF PUMA 560 robots with very good results. © 1996 IEEE.-
dc.languageeng-
dc.relation.ispartofIEEE Transactions on Robotics and Automation-
dc.titleIntelligent planning and control for multirobot coordination: An event-based approach-
dc.typeArticle-
dc.description.natureLink_to_subscribed_fulltext-
dc.identifier.doi10.1109/70.499825-
dc.identifier.scopuseid_2-s2.0-0030166487-
dc.identifier.volume12-
dc.identifier.issue3-
dc.identifier.spage439-
dc.identifier.epage452-

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