Title :
Collision avoidance for robots in an experimental flexible assembly cell
Author :
Gouzenes, Laurent
Author_Institution :
C.N.R.S., Toulouse, France
Abstract :
We discuss problems of collision avoidance in a flexible assembly cell (FAC) : gross motion, fine motion and error recovery, robots with a common work-area. Different strategies are proposed, based on graph-search techniques and use of Petri nets. These methods are integrated on our experimental FAC system and allow safe and high-level programming of robots.
Keywords :
Assembly systems; Collision avoidance; Petri nets; Power system security; Programming profession; Robot programming; Robot sensing systems; Robotic assembly; Robotics and automation; Tree graphs;
Conference_Titel :
Robotics and Automation. Proceedings. 1984 IEEE International Conference on
DOI :
10.1109/ROBOT.1984.1087202
