Browse > Article
http://dx.doi.org/10.5302/J.ICROS.2004.10.12.1233

A Motion Planning Algorithm for Synchronizing Spatial Trajectories of Multi-Robots  

Jeong Young-Do (현대중공업(주))
Kim Sung-Rak (현대중공업(주))
Lee Choong-Dong (현대중공업(주))
Lim Hyun-Kyu (현대중공업(주))
Publication Information
Journal of Institute of Control, Robotics and Systems / v.10, no.12, 2004 , pp. 1233-1240 More about this Journal
Abstract
Recently the need for cooperative control among robots is increasing in a variety of industrial robot applications. Such a control framework enhances the efficiency of the real robotic assembly environment along with extending the robot application. In this paper, an ethernet-based cooperative control framework was proposed. The cooperative control of robots can multiply the handling capacity of robot system, and make it possible to implement jigless cooperation, due to realization of trajectory-synchronized movement between a master robot and slave robots. Coordinate transformation was used to relate among robots in a common coordinate. An optimized ethernet protocol of HiNet was developed to maximize the speed of communication and to minimize the error of synchronous movement. The proposed algorithm and optimization of network protocol was tested in several class of robots.
Keywords
synchronized motion; industrial robot; robot cooperation; ethernet;
Citations & Related Records
연도 인용수 순위
  • Reference
1 D. Bennet and J. M. Hollerbach, 'Autonomous calibration of single loop closed kinematic chains formed by manipulators with passive endpoint constraints,' IEEE Trans. Robot. Automat., vol. 7, pp. 597-606, 1991   DOI   ScienceOn
2 박재성, 김성락, 'Robot tool calibration 기능 개발,' 기술현대, vol. 18, no. 4, 1998
3 W. Richard Stevens, TCP/IP Illustrated Volumel The Protocols, Addison Wesley, 1994
4 G. Pardo-Castellote, S. Schneider, and M. Hamilton, 'NDDS: the real-time publisher subscribe middleware,' Proceedings of the IEEE Real-Time Systems Symposium, 1997
5 H. Zhuang, Z. S. Roth, 'Camera-aided robot calibration,' CRC press ,1996
6 R. Bernhardt, S. L. Albright, Robot Calibration, Chapman & Hall, 1993
7 K. Stoddard, 'Multi-controller robot cooperation,' 35th International Symposium on Robotics, 2004
8 임현규, 강태선, 김동혁, 김성락 '산업용 로봇의 포지셔너 동기기능 개발,' 기술현대, vol. 21, no. 3, 2001
9 M. W. Spong, M. Vidyasagar, Robot Dynamics and Control, 1989