• 主题
高级搜索  >
历史搜索 清空历史
首页> 外文期刊>International Journal of Computer Integrated Manufacturing >An elastic force based collision avoidance method and its application to motion coordination of multiple robots
【24h】

An elastic force based collision avoidance method and its application to motion coordination of multiple robots

机译：基于弹力的防撞方法及其在多机器人运动协调中的应用

获取原文
获取原文并翻译 | 示例
           
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

A key contribution of robots to a manufacturing system is flexibility and automation. The robots can handle part batches of varying size and mix and can adapt to process variations and uncertainties in the working environment. This paper proposes a method for the collision-free motion coordination of multiple robots in a common working environment. The method uses an improved elastic force based method for collision avoidance. For the motion coordination of multiple robots, prioritisation-and-avoidance is used. Priority is assigned to each robot with a robot of lower priority avoiding the robots of higher priority. Without priority, every robot takes pains to avoid all the other robots. This degrades the overall performance of the coordinated motion. In addition, priority allows a robot with an urgent job to perform its job quicker. For collision avoidance, elastic force as well as potential field force is used. Compared with the method using only the potential field force, the robot can keep its configuration while avoiding other robots. Moreover, by adjusting the elastic force, task-consistent motion is possible. This method is tested by simulation and results in a smooth and adaptive coordination in an environment with different types of robots. Also the proposed method is compared with a method using the conventional elastic strip based method. The method can be used to coordinate the motion of multiple robots in a common working environment of a CIM system without interference.
机译：机器人对制造系统的关键贡献是灵活性和自动化。机器人可以处理尺寸和混合变化的零件批次，并且可以适应工作环境中的工艺变化和不确定性。提出了一种在公共工作环境下多机器人无碰撞运动协调的方法。该方法使用改进的基于弹力的方法来避免碰撞。对于多个机器人的运动协调，使用了优先级和回避性。优先级较低的机器人将被分配给每个机器人，从而避免了优先级较高的机器人。在没有优先权的情况下，每个机器人都会竭尽全力避免其他所有机器人。这会降低协调运动的整体性能。此外，优先级允许具有紧急任务的机器人更快地执行其任务。为了避免碰撞，使用了弹力以及潜在的电场力。与仅使用势场力的方法相比，该机器人可以保持其配置，同时避免使用其他机器人。此外，通过调节弹力，可以实现任务一致的运动。该方法经过仿真测试，可在具有不同类型机器人的环境中实现平稳且自适应的协调。此外，将所提出的方法与使用基于常规弹性带的方法的方法进行了比较。该方法可用于在CIM系统的通用工作环境中协调多个机器人的运动，而不会产生干扰。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号