A novel non-collision path planning strategy for multi-manipulator cooperative manufacturing systems

Su, Chang; Xu, Jianfeng

doi:10.1007/s00170-022-08809-w

Cited by 5 publications

(4 citation statements)

References 22 publications

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“…Manufacturing [11][12][13][14][15][16][17][18][19][20][21][22] CRMs can be used in manufacturing for tasks that requires complex movement such as assembly [19,20]. For example, a team of robot arms can work together to assemble a car engine, with each arm performing a specific task such as tightening bolts or installing parts 1 .…”

Section: Types Specific Applicationsmentioning

confidence: 99%

Cooperative Robot Manipulators Dynamical Modeling and Control: An Overview

Ghorbanpour

2023

Dynamics

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Robot manipulators possess the capability to autonomously execute complex sequences of actions. Their proficiency in handling challenging and hazardous tasks has led to their widespread adoption across diverse sectors, including industry, business, household appliances, rehabilitation, and many more. However, certain tasks prove to be challenging for individual robots, primarily due to constraints in their structure and limited degrees of freedom. Cooperative robot manipulators (CRMs) emerge as a compelling solution when dealing with large, heavy, or flexible payloads. The utilization of CRMs offers a host of benefits, including enhanced manipulation performance achieved through the synergy of sensing and actuation capabilities or by tapping into increased redundancy. Numerous techniques have been devised for the control and dynamical modeling of CRMs. Nevertheless, the field continues to present technical challenges and scientific inquiries. To inspire and facilitate further research and development in this realm, this review aims to consolidate the current body of knowledge pertaining to CRMs kinematics, dynamics modeling, and various control methodologies used for payload manipulation via CRMs.

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Section: Types Specific Applicationsmentioning

confidence: 99%

Cooperative Robot Manipulators Dynamical Modeling and Control: An Overview

Ghorbanpour

2023

Dynamics

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“…The result showed that the proposed scheme ensures that the space robotic system can automatically avoid self-collision and displays good robust performance. Su et al [13] combined the map search method with the time sampling method to search the optimal local path in each sampling time and synthesized all local paths into a complete path. The result showed that the proposal can successfully achieve collision avoidance of dual manipulators system while meeting the real-time requirements for multi-manipulator cooperate assembling scenarios.…”

Section: Introductionmentioning

confidence: 99%

Collision avoidance trajectory planning for a dual-robot system: using a modified APF method

Yang,

Dong,

Dai

2024

Robotica

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Dual-robot system has been widely applied to the field of handling and palletizing for its high efficiency and large workspace. It is one of the key problems of the trajectory planning to determine the collision avoidance method of the dual-robot system. In the present study, a collision avoidance trajectory planning method for the dual-robot system was proposed on the basis of a modified artificial potential field (APF) algorithm. The interference and collision criterion of the dual-robot system was given firstly, which was established based on the method of kinematic analysis in robotics. And then, in consideration of the problem of excessive virtual potential field force induced by using the traditional APF algorithm in the process of dual-robot trajectory planning, a modified APF algorithm was proposed. Finally, the modified APF algorithm was used for motion control of a dual-robot palletizing process, and the collision avoidance performance of the proposed collision avoidance algorithm was studied through a dual-robot palletizing simulation and experiment. The results have shown that with the proposed collision avoidance trajectory planning algorithm, the two robots in dual-robot system can maintain a safe distance at all times during palletizing process. Compared with the traditional APF and rapidly-exploring random tree (RRT) algorithm, the trajectory solution time of the modified APF algorithm is greatly reduced. And the modified APF algorithm’s convergence time is 14.2% shorter than that of the traditional APF algorithm.

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“…For example, MRS performs the task in a distributed manner, and enhances the robustness and fault tolerance of the system. Therefore, MRS has been applied to many engineering problems, such as formation control [2,3], cooperative transportation [4,5] and cooperative manufacture [6,7].…”

Section: Introductionmentioning

confidence: 99%

A discrete-time distributed optimization algorithm for cooperative transportation of multi-robot system

Meng

Sun

Liu

et al. 2023

Complex Intell. Syst.

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Multi-robot cooperation is a typical application of multi-robot system, which has strong potential applications in many special occasions. However, few scholars have considered cooperative optimization transportation from the perspective of optimization. This paper investigates the cooperative transportation optimization problem for multiple mobile robots with kinematically redundant manipulators. First, a discrete-time distributed optimization algorithm with fixed step size is proposed to achieve linear convergence. Second, by introducing a rotation variable into the optimization problem, the joint angular velocity of manipulator and the velocity of moving platform change more smoothly. Third, a virtual leader-follower transport strategy is used in this paper to improve the stability of the multi-robot system. In the physical experiment, the trajectory of each end-effector matches the expected trajectory, and the center trajectory of the transport object almost coincides with the virtual leader trajectory with acceptable error. Moreover, the simulation and physical example are provided to demonstrate the effectiveness of the proposed algorithm.

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A novel non-collision path planning strategy for multi-manipulator cooperative manufacturing systems

Cited by 5 publications

References 22 publications

Cooperative Robot Manipulators Dynamical Modeling and Control: An Overview

Cooperative Robot Manipulators Dynamical Modeling and Control: An Overview

Collision avoidance trajectory planning for a dual-robot system: using a modified APF method

A discrete-time distributed optimization algorithm for cooperative transportation of multi-robot system

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