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Article: Sensor-referenced multiple robot cooperation for material handling

TitleSensor-referenced multiple robot cooperation for material handling
Authors
Issue Date1998
Citation
Industrial Robot, 1998, v. 25, n. 2, p. 129-133 How to Cite?
AbstractIn 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 Identifierhttp://hdl.handle.net/10722/212690
ISSN
2015 Impact Factor: 0.422
2015 SCImago Journal Rankings: 0.375

 

DC FieldValueLanguage
dc.contributor.authorXi, Ning-
dc.contributor.authorTarn, Tzyh Jong-
dc.date.accessioned2015-07-28T04:04:42Z-
dc.date.available2015-07-28T04:04:42Z-
dc.date.issued1998-
dc.identifier.citationIndustrial Robot, 1998, v. 25, n. 2, p. 129-133-
dc.identifier.issn0143-991X-
dc.identifier.urihttp://hdl.handle.net/10722/212690-
dc.description.abstractIn 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.languageeng-
dc.relation.ispartofIndustrial Robot-
dc.titleSensor-referenced multiple robot cooperation for material handling-
dc.typeArticle-
dc.description.natureLink_to_subscribed_fulltext-
dc.identifier.scopuseid_2-s2.0-0031675110-
dc.identifier.volume25-
dc.identifier.issue2-
dc.identifier.spage129-
dc.identifier.epage133-

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