Parametric Planning for Multiple Cooperative Robots |
| |
Authors: | Email author" target="_blank">Honghai?LiuEmail author David?J?Brown Hui?Li |
| |
Affiliation: | (1) Computer Intelligence & Application Group, Faculty of Technology, University of Portsmouth, Portsmouth, PO1 3HE, UK;(2) Faculty of Business, Computing and Information Management, London South Bank University, London, SE1 0AA, UK |
| |
Abstract: | A novel planning strategy, parametric planning, is proposed to negotiate the task-oriented object manipulation of multiple
coordinated robots. The approach provides an advantage to improve flexibility of robotic cooperation, in which the desired
trajectories in Cartesian space derived from task requirements are converted into the trajectories of robots in joint space
for a fixed-coordinated multi-robot system. For this purpose, a parametric cooperative index matrix is introduced to handle
the relationship of the input desired Cartesian trajectories and the position of robots. A case study of 2-dimension object-motion
trajectory tracking using four robots is presented in the end. It proved that the proposed approach effectively delivers trajectory
task requirements to the joint trajectories of robots. |
| |
Keywords: | cooperative robots parametric planning trajectory planning |
本文献已被 SpringerLink 等数据库收录! |
|