2P1-V07 On-line Collision-Free Motion of n-Robot Industrial Manipulators with Independent Controllers

• AFAGHANI Ahmad Yasser

  University of Tsukuba

• AIYAMA Yasumichi

  University of Tsukuba

抄録

In this paper, on-line collision avoidance of n-robot industrial manipulators considering whole body has been addressed. AH robots are controlled using unpredictable PTP commands. We have improved the collision map method to be able to detect any potential collisions between all links of the robots. Furthermore, the map has been used skillfully to avoid the collisions by means of time scheduling of command execution times, and to avoid deadlocks which may occur if any robot blocks the movement of the others.

収録刊行物

• ロボティクス・メカトロニクス講演会講演概要集

  ロボティクス・メカトロニクス講演会講演概要集 2015 (0), _2P1-V07_1-_2P1-V07_4, 2015

  一般社団法人 日本機械学会

キーワード

• On-line system
• collision and deadlock avoidance
• PTP commands
• advanced collision map
• multi-robot system

詳細情報

• CRID: 1390282680918948992
• NII論文ID: 110010055887
• DOI: 10.1299/jsmermd.2015._2p1-v07_1
• ISSN: 24243124
• Web Site: https://www.jstage.jst.go.jp/article/jsmermd/2015/0/2015__2P1-V07_1/_pdf
• 本文言語コード: en
• データソース種別:
  • JaLC
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可