Task-oriented motion planning for multi-arm robotic systems

被引：73

作者：

Basile, F. ^{[2
]}

Caccavale, F. ^{[1
]}

Chiacchio, P. ^{[2
]}

Coppola, J. ^{[2
]}

Curatella, C. ^{[3
]}

机构：

[1] Univ Basilicata, Dipartimento Ingn & Fis Ambiente, I-85100 Potenza, Italy

[2] Univ Salerno, Dipartimento Ingn Informaz & Ingn Elettr, I-84084 Fisciano, SA, Italy

[3] COMAU SpA, BU Robot Business Line, I-10095 Grugliasco, TO, Italy

来源：

ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING | 2012年 / 28卷 / 05期

关键词：

Cooperative manipulators; Industrial robotics; Task planning; Coordinated motion;

D O I：

10.1016/j.rcim.2012.02.007

中图分类号：

TP39 [计算机的应用];

学科分类号：

081203 ; 0835 ;

摘要：

In this paper a task-oriented motion planning approach for general cooperative multi-robot systems is proposed. In order to derive a meaningful task formulation, a taxonomy of cooperative multi-arm systems of industrial interest is devised. Then, a workpiece-oriented general formulation for cooperative tasks is proposed, where the user is asked to specify the motion of the system only at the workpiece level, while the motion of the single arms in the system is computed via kinematic transformations between the relevant coordinate frames. Based on this task formulation, an instructions set is derived to extend classical programming languages for industrial robots to general multi-robot systems. In order to test the approach, a software environment has been built, composed of an interpreter of the language and the motion planning software. (C) 2012 Elsevier Ltd. All rights reserved.

引用

页码：569 / 582

页数：14

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