Title :
Understanding workspace structure of multi-robot systems
Author :
Costa-Castelló, Ramon ; Basañez, Luis
Author_Institution :
Inst. d´´Organitzacio i Control de Sistemes Ind., Univ. Politecnica de Catalunya, Barcelona, Spain
Abstract :
The goal of the work presented is to provide a more in-depth understanding of multi-robot systems workspace. In this sense, reachable and dexterous workspace for a class of multi-robot systems are characterized. These workspaces are expressed as a function of individual robot workspaces, base relative positions, and grasping relative configurations. A great advantage of the proposed method in comparison with others is its applicability to the design of multi-robot working cells
Keywords :
computational geometry; manipulator kinematics; multi-robot systems; optimisation; base relative positions; dexterous workspace; grasping relative configurations; individual robot workspaces; multi-robot systems workspace; multi-robot working cells; multirobot systems; workspace structure; Control systems; Electrical equipment industry; End effectors; Industrial control; Jacobian matrices; Kinematics; Multirobot systems; Robot sensing systems; Transmission line matrix methods; Virtual reality;
Conference_Titel :
Emerging Technologies and Factory Automation, 1999. Proceedings. ETFA '99. 1999 7th IEEE International Conference on
Conference_Location :
Barcelona
Print_ISBN :
0-7803-5670-5
DOI :
10.1109/ETFA.1999.815347
