scholarly journals Coordinated motion control of multiple robotic devices for welding and redundancy coordination through constrained optimization in Cartesian space

1989 ◽  
Vol 5 (4) ◽  
pp. 409-417 ◽  
Author(s):  
S. Ahmad ◽  
S. Luo
Keyword(s):  
Constrained Optimization ◽  
Motion Control ◽  
Coordinated Motion ◽  
Cartesian Space ◽  
Robotic Devices

An Algorithm for Generation of Coordinated Robot Trajectories in Cartesian Space

2013 ◽  
Vol 196 ◽  
pp. 169-180 ◽  
Author(s):  
Adam Słota
Keyword(s):  
Virtual Environment ◽  
Relative Position ◽  
Accuracy Analysis ◽  
Simulation Environment ◽  
Coordinated Motion ◽  
Generation Algorithm ◽  
Cartesian Space ◽  
Position And Orientation ◽  
End Effectors ◽  
Trajectory Generation Algorithm

In the paper a trajectory generation algorithm for two robots’ coordinated motion is presented. Two instances of the algorithm, each for one robot, run in the same time and calculate trajectories’ position and orientation coordinates. Initial and end robots’ end-effectors poses are defined and values of linear and angular speeds are programmed. To minimize relative position and orientation errors an idea of corrective motion is introduced. Trajectory coordinates are calculated as the sum of programmed and corrective motion. The algorithm was implemented in a simulation environment and results of simulation are presented. Static accuracy analysis for general case and stability verification for fixed values of robots’ parameters are described. Finally, an outline of proposed procedure of building a virtual environment for reachability verification and collision checking is presented.

Motion Coordination of Two Robots in Cartesian Space Based on Mechanical Impedance

2014 ◽  
Vol 613 ◽  
pp. 53-59 ◽  
Author(s):  
Adam Slota
Keyword(s):  
Mechanical Impedance ◽  
Interaction Force ◽  
Linear Increase ◽  
Dimensional Case ◽  
Motion Coordination ◽  
Coordinated Motion ◽  
Simulation Experiments ◽  
Cartesian Space ◽  
Motion Speed ◽  
In Series

Coordinated motion of two robots in Cartesian space is considered in the paper. Coordinated trajectory is generated as the sum of two motions: programmed and corrective. The corrective motion aims at limitation of the interaction force between robots. For calculation of the corrective motion speed the idea of mechanical impedance is used. As a measure of force interactions between robots change of distance between robots TCPs is used. Simulation experiments carried out for one dimensional case show that application of impedance based correctors results in the linear growth of change of distance between robots TCPs for constant difference between robots programmed speeds. Thus a modification of impedance based correctors is proposed. The modification consists in introduction of an integrating element in series with impedance corrector. Simulation tests for the modified correctors provide improved results – magnitude of change of distance is decreased. Linear increase of change of distance for impedance corrector is changed into a constant non zero value, whereas constant non zero value is changed into zero value. Simulation results for two dimensional case of coordinated motion are also presented.

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