NDLI: Time-scaled coordination of multiple manipulators

Content Provider	IEEE Xplore Digital Library
Author	Akella, S. Jufeng Peng
Copyright Year	2004
Description	Author affiliation: Dept. of Comput. Sci., Rensselaer Polytech. Inst., Troy, NY, USA (Akella, S.)
Abstract	Coordinating multiple manipulators in a shared workspace while considering their dynamics is an important problem. This problem of collision-free coordination arises in assembly, materials transfer, and welding workcells. Previous approaches that considered robot dynamics have typically been restricted to coordinating just two or three manipulators, even when their paths are specified. We address the task of coordinating the motions of multiple manipulators when either their trajectories or their paths are given. By exploiting a fundamental time scaling law for manipulators based on their dynamics, we identify sufficient conditions for collision-free coordination of the robots when the velocity profiles can be uniformly time-scaled and the robot start times can be varied. We describe an approach that develops mixed integer programming formulations of these problems, where the time scaling factors are linear variables, to automatically minimize completion time. This method can potentially coordinate the motions of many manipulators.
Sponsorship	IEEE Robotics and Automation Soc
Starting Page	3337
Ending Page	3344
File Size	678266
Page Count	8
File Format	PDF
ISBN	0780382323
ISSN	10504729
DOI	10.1109/ROBOT.2004.1308769
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2004-04-26
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot kinematics Manipulator dynamics Robotic assembly Welding Sufficient conditions Robotics and automation Timing Computer science Actuators Torque
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Self assembly of modular manipulators with active and passive modules

On the dynamics of parallel manipulators

Learning control for robotic manipulators in discrete-time formulation

Visually guided coordination for distributed precision assembly

Tracking control of on-line time-scaled trajectories for robot manipulators under constrained torques

Architecture singularities in flagged parallel manipulators

Robust robotic assembly through contingencies, plan repair and re-planning

Accuracy of Kinematic and Dynamic Models of a Gantry-Tau Parallel Kinematic Robot

Deadlock-free and collision-free coordination of two robot manipulators

Time-scaled coordination of multiple manipulators

Similar Documents

Self assembly of modular manipulators with active and passive modules

On the dynamics of parallel manipulators

Learning control for robotic manipulators in discrete-time formulation

Visually guided coordination for distributed precision assembly

Tracking control of on-line time-scaled trajectories for robot manipulators under constrained torques

Architecture singularities in flagged parallel manipulators

Robust robotic assembly through contingencies, plan repair and re-planning

Accuracy of Kinematic and Dynamic Models of a Gantry-Tau Parallel Kinematic Robot

Deadlock-free and collision-free coordination of two robot manipulators

Time-scaled coordination of multiple manipulators