A new plan and coordination strategy for robot system

This paper proposes a general plan and coordination strategy for robot system. The state space for robot system is constructed according to the task requirement and system characteristic. Reachable state of the system is figured out by the systempsilas internal and external constraints. Task plan and coordination is then transformed as trajectory solving problem in its state space, by which the realizable conditions for given task are discussed. If the task is realizable, the optimal strategy for task execution could be obtained by searching in state space. Otherwise, it could be transformed to be realizable via adjusting systempsilas configuration and/or task constraint, and the transformation condition could also be determined. This contributes to design, plan, and coordination of the robotic tasks. Experiments of manipulator path planning and multi-robot formation movement are conducted to show the validity and generalization of the proposed method.