DocumentCode :
277476
Title :
Concurrent processing in cooperating multi-arm task planning, simulation and real-time control
Author :
Dodds, G.I. ; Irwin, G.W. ; Zalzala, A.M.S. ; Glover, N. ; Wilson, G.
Author_Institution :
Dept. of Electr. & Electron. Eng., Queen´´s Univ. of Belfast, UK
fYear :
1992
fDate :
33772
Firstpage :
42491
Lastpage :
42494
Abstract :
Cooperating arm configurations include isolated robotic cells, robots with overlapping workspaces and also robots working on a cooperative manipulation task. All require detailed planning for coordination but the latter configuration is particularly intensive in processing and planning requirements. The paper provides an overview of the multi-manipulator research at the Queen´s University and highlights the significance of concurrent processing and parallel algorithms in a number of key areas. These range from high level collision avoidance strategies and optimisation of limb movements down to individual joint control
Keywords :
digital simulation; industrial computer control; industrial robots; parallel algorithms; parallel processing; real-time systems; collision avoidance; concurrent processing; cooperating arm configuration; cooperative manipulation task; digital simulation; industrial robots; joint control; limb movements; multiarm robots; parallel algorithms; real-time control; task planning;
fLanguage :
English
Publisher :
iet
Conference_Titel :
Multi-Arm Robotics, IEE Colloquium on
Conference_Location :
London
Type :
conf
Filename :
168581
Link To Document :
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