지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 저널정보
- Korean Institute of Information Scientists and Engineers Journal of Electrical Engineering and Information Science Journal of Electrical Engineering and Information Science Vol.2 No.3
- 발행연도
- 1997.6
- 수록면
- 51 - 60 (10page)
이용수
초록· 키워드
오류제보하기
A practically applicable collision free trajectory planning technique for two robot systems is proposed. The robot trajectories considered in this work are composed of many segments, and at the intersection points between segments robots stop to assemble, weld, or do other jobs by the attached end-effectors. The proposed method is based on the Planning- Coordination Decomposition where planning is to find a trajectory of each robot independently according to their tasks and coordination is to find a velocity modification profile to avoid collision with each other. To fully utilize the independently planned trajectories and to ensure no geometrical path deviation after coordination, we develop a simple technique added the minimal delay time to avoid collision just before moving along path segments. We determine the least delay time by the graphical method in the Coordination Space where collisions and coordinations are easily visualized. We classify all possible cases into 3 groups and derive the optimal solution for each group.
목차
Abstract
Ⅰ. Introduction
Ⅱ. Coordination Space for Segmented Paths
Ⅲ. Collision Avoidance
Ⅳ. Delay Time Optimal Coordination
Ⅴ. Concluding Remarks
Acknowledgement
Appendix
References
저자소개
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