Path Planning and Control of a Cooperative Three-Robot System Manipulating Large Objects

Tzafestas, CS; Prokopiou, PA; Tzafestas, SG

dc.contributor.author	Tzafestas, CS	en
dc.contributor.author	Prokopiou, PA	en
dc.contributor.author	Tzafestas, SG	en
dc.date.accessioned	2014-03-01T01:13:59Z
dc.date.available	2014-03-01T01:13:59Z
dc.date.issued	1998	en
dc.identifier.issn	0921-0296	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/12829
dc.subject	Cooperative three-robot system	en
dc.subject	Large object manipulation	en
dc.subject	Master-and-two-slaves mode	en
dc.subject	Multi-robot systems	en
dc.subject	Path planning-control	en
dc.subject.classification	Computer Science, Artificial Intelligence	en
dc.subject.classification	Robotics	en
dc.subject.other	Computer simulation	en
dc.subject.other	Control	en
dc.subject.other	End effectors	en
dc.subject.other	Robotic arms	en
dc.subject.other	Robots	en
dc.subject.other	Large object manipulation	en
dc.subject.other	Master and two slaves mode	en
dc.subject.other	Three robot system	en
dc.subject.other	Motion planning	en
dc.title	Path Planning and Control of a Cooperative Three-Robot System Manipulating Large Objects	en
heal.type	journalArticle	en
heal.identifier.primary	10.1023/A:1007943632269	en
heal.identifier.secondary	http://dx.doi.org/10.1023/A:1007943632269	en
heal.language	English	en
heal.publicationDate	1998	en
heal.abstract	After a brief review of the current research on multi-robot systems, the paper presents a path planning and control scheme for a cooperative three-robot system transferring/manipulating a large object from an initial to a desired final position/orientation. The robots are assumed to be capable of holding the object at three points that define an isosceles triangle. The mode of operation adopted is that of a ""master-and-two-slave robots"". The control scheme employs the differential displacement of the object which is transformed into that of the end-effector of each robotic arm, and then used to compute the differential displacements of the joints of the robots. The scheme was applied to several 3-robot systems by simulation and proved to be adequately effective, subject to certain conditions regarding the magnitude of the differential displacements. Here, an example is included which concerns the case of three Stäubli RX-90L robots.	en
heal.publisher	KLUWER ACADEMIC PUBL	en
heal.journalName	Journal of Intelligent and Robotic Systems: Theory and Applications	en
dc.identifier.doi	10.1023/A:1007943632269	en
dc.identifier.isi	ISI:000074164100002	en
dc.identifier.volume	22	en
dc.identifier.issue	2	en
dc.identifier.spage	99	en
dc.identifier.epage	116	en