Title :
A study on dynamically reconfigurable robotic systems: assembling, disassembling and reconfiguration of cellular manipulator by cooperation of two robot manipulators
Author :
Fukuda, Toshio ; Xue, Guoqing ; Arai, Fumihito ; Asama, Hajime ; Omori, Hiromichi ; Endo, Isao ; Kaetsu, Hayato
Author_Institution :
Furocho, Nagoya, Japan
Abstract :
Deals with a kind of cellular robotic system (CEBOT), called self organizing manipulator system. In this system the configuration of the manipulator can be changed according to the given task. The authors use two manipulators to assemble, disassemble, and reassemble cellular universal manipulator by cooperation work. When a simple task is given, the system can analyze the task and generate the structure of the cellular manipulator. The assembling work was divided into modular subtasks, and then the system generate the macro command based on the database. The order of subtask and the collision avoidance are considered for planning the cooperation work by using the collision database which was calculated before hand. They show the algorithm for calculation the collision database and for planning the cooperation work. The results of the simulation and the experiment are shown
Keywords :
assembling; control engineering computing; factory automation; industrial robots; self-adjusting systems; assembling; cellular manipulator; collision avoidance; collision database; dynamically reconfigurable robotic systems; industrial robots; macro command; path planning; self organizing manipulator system; Assembly systems; Collision avoidance; Costs; Databases; Investments; Manipulator dynamics; Organizing; Production systems; Robotic assembly; Robots;
Conference_Titel :
Intelligent Robots and Systems '91. 'Intelligence for Mechanical Systems, Proceedings IROS '91. IEEE/RSJ International Workshop on
Conference_Location :
Osaka
Print_ISBN :
0-7803-0067-X
DOI :
10.1109/IROS.1991.174659