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
Description
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.
Journal
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- The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
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The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2014 (0), _2A1-W03_1-_2A1-W03_4, 2014
The Japan Society of Mechanical Engineers
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Details 詳細情報について
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- CRID
- 1390001205939269248
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- NII Article ID
- 110009968905
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- ISSN
- 24243124
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- Text Lang
- en
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- Data Source
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- JaLC
- Crossref
- CiNii Articles
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- Abstract License Flag
- Disallowed