Title :
PLC based coordination schemes for a multi-robot system
Author :
Moon, Chan Woo ; Lee, Beom Hee ; Kim, M.S.
Author_Institution :
Sch. of Electr. Eng., Seoul Nat. Univ., South Korea
Abstract :
A robotic work cell with multiple robots can accomplish complex tasks that a single robot cannot manage. Robots in the work cell cooperate with each other, or compete for shared motion path, resources and workspace. So coordinating multiple robots is essential for designing a robotic work cell. We present a logic model of a robotic work cell to build controllers that meet required behavior, and construct a performance model to measure the performance of controllers. We verify the presented model with an experimental multi-robot work cell.
Keywords :
Markov processes; collision avoidance; industrial robots; multi-robot systems; programmable controllers; reliability; PLC based coordination schemes; logic model; motion path; multi-robot system; performance model; robotic work cell; shared resources; shared workspace; Intelligent robots; Intelligent sensors; Logic; Manufacturing systems; Multirobot systems; Programmable control; Robot kinematics; Robot sensing systems; Robot vision systems; Robotic assembly;
Conference_Titel :
Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on
Print_ISBN :
0-7803-6576-3
DOI :
10.1109/ROBOT.2001.933095
