engleski

Simultaneous Coordination of Robots With Overlapping Workspace

The paper presents a novel approach to path planning for two decoupled robots with six degrees of freedom (DOF) each. The robots are placed so that their workspaces overlap. Thus each robot presents dynamic obstacle to the other one, whereas each robot is controlled with separate controller in a separated time domain. The method is based on analysis of the configuration spaces (C space) of the robots. For given initial and final configurations of the robots, considering a set of constraints, the algorithm successfully finds a set of intermediate configurations to ensure smooth, collision free transition from start to end configuration. The algorithm is tested in Fanuc’s physical simulation environment Roboguide, and successfully experimentally implemented on two Fanuc’s LR Mate 200iC/5L robots. The scenario is applied for assembly task of industrial thermo regulator, with assembly parts randomly distributed within the shared spaces of the two robots.

multi-robot path planning ; real-time coordination ; robotics

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