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Article: Sensor-referenced multiple robot cooperation for material handling
Title | Sensor-referenced multiple robot cooperation for material handling |
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Authors | |
Issue Date | 1998 |
Citation | Industrial Robot, 1998, v. 25, n. 2, p. 129-133 How to Cite? |
Abstract | In this paper, a new cooperation control scheme for multiple robot material handling is presented. First, the event-based planning and control method is introduced, which lays down the foundation for sensor-referenced cooperation of multiple robot systems. The key step is the development of event-based action reference. Based on the real-time sensory information, the event-based action reference drives the system to achieve the best possible coordination. The event-based cooperation control scheme can easily be implemented in a distributed computer system. A real-time control and computing architecture is proposed to implement this scheme in a parallel computation. The new multiple robot cooperation scheme has been experimentally implemented and tested on two 6-DOF PUMA 560 robots. The experimental results have demonstrated the advantages of the scheme. |
Persistent Identifier | http://hdl.handle.net/10722/212690 |
ISSN | 2023 Impact Factor: 1.9 2023 SCImago Journal Rankings: 0.576 |
ISI Accession Number ID |
DC Field | Value | Language |
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dc.contributor.author | Xi, Ning | - |
dc.contributor.author | Tarn, Tzyh Jong | - |
dc.date.accessioned | 2015-07-28T04:04:42Z | - |
dc.date.available | 2015-07-28T04:04:42Z | - |
dc.date.issued | 1998 | - |
dc.identifier.citation | Industrial Robot, 1998, v. 25, n. 2, p. 129-133 | - |
dc.identifier.issn | 0143-991X | - |
dc.identifier.uri | http://hdl.handle.net/10722/212690 | - |
dc.description.abstract | In this paper, a new cooperation control scheme for multiple robot material handling is presented. First, the event-based planning and control method is introduced, which lays down the foundation for sensor-referenced cooperation of multiple robot systems. The key step is the development of event-based action reference. Based on the real-time sensory information, the event-based action reference drives the system to achieve the best possible coordination. The event-based cooperation control scheme can easily be implemented in a distributed computer system. A real-time control and computing architecture is proposed to implement this scheme in a parallel computation. The new multiple robot cooperation scheme has been experimentally implemented and tested on two 6-DOF PUMA 560 robots. The experimental results have demonstrated the advantages of the scheme. | - |
dc.language | eng | - |
dc.relation.ispartof | Industrial Robot | - |
dc.title | Sensor-referenced multiple robot cooperation for material handling | - |
dc.type | Article | - |
dc.description.nature | link_to_subscribed_fulltext | - |
dc.identifier.scopus | eid_2-s2.0-0031675110 | - |
dc.identifier.volume | 25 | - |
dc.identifier.issue | 2 | - |
dc.identifier.spage | 129 | - |
dc.identifier.epage | 133 | - |
dc.identifier.isi | WOS:000072965200010 | - |
dc.identifier.issnl | 0143-991X | - |