DocumentCode
2333102
Title
An algorithmic approach to the trajectory planning for multiple robots
Author
Chien, Y.P.
Author_Institution
Dept. of Electr. Eng., Purdue Univ., Indianapolis, IN, USA
fYear
1990
fDate
11-13 Mar 1990
Firstpage
303
Lastpage
307
Abstract
A discrete trajectory planning algorithm that generates locally minimum time trajectories for coordinately operating multiple robots is proposed. Each robot has 6 degrees of freedom. The robots operate coordinately in a three-dimensional workspace. The task of the robots is to move a rigid object along a specified path. The control sampling period of the robots is assumed to be constant. The robot trajectories generated satisfy the joint velocity and acceleration constraints, as well as the path constraints
Keywords
planning (artificial intelligence); position control; robots; discrete trajectory planning algorithm; locally minimum time trajectories; multiple robots; three-dimensional workspace; Acceleration; CADCAM; Computer aided manufacturing; Manipulators; Orbital robotics; Robot kinematics; Sampling methods; Technology planning; Torque; Trajectory;
fLanguage
English
Publisher
ieee
Conference_Titel
System Theory, 1990., Twenty-Second Southeastern Symposium on
Conference_Location
Cookeville, TN
ISSN
0094-2898
Print_ISBN
0-8186-2038-2
Type
conf
DOI
10.1109/SSST.1990.138160
Filename
138160
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