Yahui Gan

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Supervisory control reconfiguration can handle the uncertainties including resource failures and task changes in discrete event systems. It was not addressed to exploit the robustness of closed-loop systems to accommodate some uncertainties in the prior studies. Such exploitation can cost-efficiently achieve reconfigurability and flexibility for real(More)
which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. Abstract An off‐line programming software designed for multiple robots cooperation system is presented in this paper. At the beginning of the paper, current technologies of robot off‐line programming are reviewed and summarized. Then,(More)
A strategy of cooperative path planning for a master-slave multiple robot system is presented in this paper. The path planning method is based on motion constraints between the end-effectors of cooperative robots. Cooperation motions have been classified into three types by relative motions between end-effectors of master and slave robots, which is(More)
To solve the problem of base frame calibration for coordinated multi-robot system, a new method is proposed in this paper. It is carried out through a series of ''handclasp'' manipulations between two coordinated robots, then a preliminary result can be reached by the calibrating equation. After that, in order to make sure that the calibrated rotation(More)
In this paper, the problem of time-optimal path tracking is investigated for coordinated dual-robot system. In the case of dual-robot system carrying on coordinated manipulation process with simplified physical constraints, a sequential convex programming (SCP) framework is implemented to realize time optimality. Moreover, versatile optimization objective(More)
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