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Titolo:
SENSOR-REFERENCED MULTIPLE ROBOT COOPERATION FOR MATERIAL HANDLING
Autore:
XI N; TARN TJ;
Indirizzi:
MICHIGAN STATE UNIV,DEPT ELECT ENGN,2120 ENGN BLDG E LANSING MI 48824 WASHINGTON UNIV ST LOUIS MO 63130
Titolo Testata:
Industrial robot
fascicolo: 2, volume: 25, anno: 1998,
pagine: 129 -
SICI:
0143-991X(1998)25:2<129:SMRCFM>2.0.ZU;2-J
Fonte:
ISI
Lingua:
ENG
Keywords:
AUTOMATED MATERIALS HANDLING; ROBOTS;
Tipo documento:
Article
Natura:
Periodico
Settore Disciplinare:
Science Citation Index Expanded
Science Citation Index Expanded
Citazioni:
13
Recensione:
Indirizzi per estratti:
Citazione:
N. Xi e T.J. Tarn, "SENSOR-REFERENCED MULTIPLE ROBOT COOPERATION FOR MATERIAL HANDLING", Industrial robot, 25(2), 1998, pp. 129

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 toachieve 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 two6-DOF PUMA 560 robots. The experimental results have demonstrated theadvantages of the scheme.

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Documento generato il 27/11/20 alle ore 22:33:16