- Garg, Devendra P. and Nagchaudhuri, Abhijit and Ananthraman, Santosh and Johnson, Christopher, Multiple robot coordination with vision and force sensing,
American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC, vol. 45
pp. 25 - 31 .
(last updated on 2007/04/10)
Multiple robot arm cooperation involves a variety of difficult problems in dynamics, control, controller architecture, distributed and parallel processing and interprocessor communication. This paper discusses the relevant issues related to some of these topics and describes the integration of motion, vision and force sensing in a multiple robot workcell environment. A parallel decentralized control architecture is designed and implemented for position and/or hybrid position-force control. Experiments illustrating coordinated multiple arm cooperation are discussed. The research work reported in this paper incorporates an intuitive practical approach. The vision and force integration imparts `sight' and `feel' to the robots, thereby making them more dextrous in a flexible manufacturing workcell.
Motion control;Computer vision;Force control;Robotic arms;Dynamics;Control systems;Computer architecture;Distributed computer systems;Parallel processing systems;Flexible manufacturing systems;Mechanical variables control;