2A1-W03 On-line Collision-Free Motion of Two Command-Based Industrial Manipulators(Cooperation Control of Multi Robots)
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- AFAGHANI Ahmad Yasser
- University of Tsukuba
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- AIYAMA Yasumichi
- University of Tsukuba
説明
In this paper, on-line collision avoidance between two industrial manipulators considering whole body has been addressed. Both 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. In addition, Based on the map, the collisions have been avoided using time scheduling of command execution times. Furthermore, the new map has been used skilfully to avoid deadlocks which may happen if one robot blocks the movement of the other.
収録刊行物
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- ロボティクス・メカトロニクス講演会講演概要集
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ロボティクス・メカトロニクス講演会講演概要集 2014 (0), _2A1-W03_1-_2A1-W03_4, 2014
一般社団法人 日本機械学会
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詳細情報 詳細情報について
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- CRID
- 1390001205939269248
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- NII論文ID
- 110009968905
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- ISSN
- 24243124
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- 本文言語コード
- en
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- データソース種別
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- JaLC
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可