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Titolo:
INTELLIGENT PLANNING AND CONTROL FOR MULTIROBOT COORDINATION - AN EVENT-BASED APPROACH
Autore:
XI N; TARN TJ; BEJCZY AK;
Indirizzi:
WASHINGTON UNIV,DEPT SYST SCI & MATH ST LOUIS MO 63130 CALTECH,JET PROP LAB PASADENA CA 91109
Titolo Testata:
IEEE transactions on robotics and automation
fascicolo: 3, volume: 12, anno: 1996,
pagine: 439 - 452
SICI:
1042-296X(1996)12:3<439:IPACFM>2.0.ZU;2-G
Fonte:
ISI
Lingua:
ENG
Soggetto:
FORCE CONTROL; REDUNDANT MANIPULATORS; ROBOT MANIPULATORS; MOTION;
Tipo documento:
Article
Natura:
Periodico
Settore Disciplinare:
CompuMath Citation Index
CompuMath Citation Index
Science Citation Index Expanded
Science Citation Index Expanded
Citazioni:
48
Recensione:
Indirizzi per estratti:
Citazione:
N. Xi et al., "INTELLIGENT PLANNING AND CONTROL FOR MULTIROBOT COORDINATION - AN EVENT-BASED APPROACH", IEEE transactions on robotics and automation, 12(3), 1996, pp. 439-452

Abstract

A 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 areable 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 robotwith 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.

ASDD Area Sistemi Dipartimentali e Documentali, Università di Bologna, Catalogo delle riviste ed altri periodici
Documento generato il 28/11/20 alle ore 21:23:13