The Coordination of Multiple Robotic Manipulators.

Abstract

In this thesis, the problem of the coordination of multiple robots is investigated at length. Included in the discussion are the position control, path planning, and collision avoidance strategies involved in the control of two robots mutually holding an object. The theories and algorithms presented in this thesis are tested and implemented in the computer simulation CoordSim. Major results from this thesis include a verification of the resolved position control theory as it drives the robots to any position and orientation. Also, a concatenation and adaption of various single robot theories is made and introduced as the Striving Technique. This solution is a complete movement algorithm which drives the two robots mutually holding an object through a field with obstacles. The algorithm also generates a path function given only the start and end positions and orientations. Finally, the concepts of the coordinated work envelope and twisting collision are derived and discussed. Keywords: Theses; Computer graphics.

Open PDF

Document Details

Document Type
Technical Report
Publication Date
Dec 11, 1987
Accession Number
ADA190869

Entities

People

  • Reed F. Young

Tags

Communities of Interest

  • Autonomy
  • Energy and Power Technologies
  • Space

DTIC Thesaurus Topics

  • Accuracy
  • Assembly
  • Assembly Lines
  • Cognition
  • Collision Avoidance
  • Computations
  • Computer Programming
  • Computer Programs
  • Computers
  • Control Systems
  • Coordinate Systems
  • Graphics
  • Guidance
  • Mechanical Engineering
  • Parallel Computing
  • Parallel Processing
  • Reliability

Readers

  • Robotics and Automation.
  • Theoretical Analysis.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - Machine Learning Algorithms
  • Autonomy
  • Autonomy - Autonomous System Control