Title :
An algorithmic approach to the trajectory planning for multiple robots
Author_Institution :
Dept. of Electr. Eng., Purdue Univ., Indianapolis, IN, USA
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;
Conference_Titel :
System Theory, 1990., Twenty-Second Southeastern Symposium on
Conference_Location :
Cookeville, TN
Print_ISBN :
0-8186-2038-2
DOI :
10.1109/SSST.1990.138160
