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

Volume

1

fYear

1999

fDate

1999

Firstpage

129

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/ETFA.1999.815347

Filename

815347