Title :
A multi-robot coordination system for manipulation of huge elliptical workpiece
Author :
Wang, Yue ; Tan, Min
Author_Institution :
Inst. of Autom., Chinese Acad. of Sci., Beijing, China
Abstract :
This paper presents a kind of kinematics arithmetic of a multi-robot coordination system, facing to manipulation of huge elliptical ship module. This multi-robot system can adjust the position and pose of the elliptical workpiece in 6 DOF, by the coordination of multiple 3 DOF robots. Based on the motion strategy, the inverse kinematics arithmetic was given, and also a simplified arithmetic applied to real time control. A numerical example illuminates the feasibility and the precision.
Keywords :
cooperative systems; mobile robots; multi-robot systems; path planning; robot kinematics; degree of freedom; elliptical ship module; inverse kinematics arithmetic; kinematics arithmetic; multirobot coordination system; real time control; Arithmetic; Centralized control; Control systems; Marine vehicles; Mobile robots; Motion control; Multirobot systems; Robot kinematics; Robot sensing systems; Welding;
Conference_Titel :
Robotics, Intelligent Systems and Signal Processing, 2003. Proceedings. 2003 IEEE International Conference on
Print_ISBN :
0-7803-7925-X
DOI :
10.1109/RISSP.2003.1285615
