A differential motion planning algorithm for controlling multi-robot systems handling a common object

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	2014-03-01T01:49:41Z
dc.date.available	2014-03-01T01:49:41Z
dc.date.issued	2000	en
dc.identifier.issn	0324-8569	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/25891
dc.subject	multi-robot systems	en
dc.subject	cooperative robots	en
dc.subject	incremental robot motion planning	en
dc.subject	master and two-slaves system	en
dc.subject	multirobot kinematics	en
dc.subject	rigidity condition	en
dc.subject.classification	Automation & Control Systems	en
dc.subject.classification	Computer Science, Cybernetics	en
dc.subject.other	COOPERATING ROBOTS	en
dc.subject.other	INDUSTRIAL ROBOTS	en
dc.subject.other	MANIPULATORS	en
dc.subject.other	CRITERION	en
dc.title	A differential motion planning algorithm for controlling multi-robot systems handling a common object	en
heal.type	journalArticle	en
heal.language	English	en
heal.publicationDate	2000	en
heal.abstract	Multi-robot systems have substantially increased capabilities over single-robot systems and can handle very large or peculiar objects. This paper presents a differential (incremental) motion planning algorithm for an m-robot system (m greater than or equal to 2) to cooperatively transfer an object from an initial to a desired final position / orientation by rigidly holding it at given respective points Q(1), Q(2), ..., Qm. One of the robots plays the role of a "master" while other robots operate in the "slave" mode maintaining invariant their relative positions and orieatations during the system motion. The method employs the differential displacements of the end-effector of each. robot arm. Then, the differential displacements of the joints of the m robots are computed for the application of incremental motion control. The algorithm was tested on many examples. A representative of them is shown here, concerning the case of three STAUBLI RX-SOL robots similar to 6-dof PUMA robots. The results obtained show the practicality and effectiveness of the method, which, however, needs particular care for completely eliminating the cumulative errors that may occur.	en
heal.publisher	POLISH ACAD SCIENCES SYSTEMS RESEARCH INST	en
heal.journalName	CONTROL AND CYBERNETICS	en
dc.identifier.isi	ISI:000089334200007	en
dc.identifier.volume	29	en
dc.identifier.issue	2	en
dc.identifier.spage	567	en
dc.identifier.epage	584	en