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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)
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)
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 tomake sure that the calibrated rotationmatrix(More)
A method with easy operation procedure and simple calibration condition is presented in this paper to solve the base frame calibration problem for cooperative robots. It is carried out through constructing a series of handclasp configurations and recording coordinates of the contact points, respectively, in base frame of each robot.Then the rotationmatrix(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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