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Coordinated motion of two robot arms for real applications

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Book cover Tasks and Methods in Applied Artificial Intelligence (IEA/AIE 1998)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 1416))

Abstract

We present a practical method for coordinating two robots that have to move in close proximity. Few results have been reported in the literature for practical situations under time constraints. In addition, no previous approaches deal with the problem of coordinated motion when the goal configurations are time dependent. We present a solution to a particular case of the multimovers problem: the coordination of two robots when grasping objects of unknown shape and position from a conveyor belt. The approach take advantage of a collision detection algorithm that uses a hierarchy of spheres to represent the robots. Experimental results yielding feasible computation times are presented.

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Author information

Authors and Affiliations

  1. Department of Computer Science, Jaume-I University, Penyeta Roja Campus, E-12071, Castellón, Spain

    Miguel Pérez-Francisco, Angel P. del Pobil & Begoña Martfnez-Salvador

Authors
  1. Miguel Pérez-Francisco
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  2. Angel P. del Pobil
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  3. Begoña Martfnez-Salvador
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Editor information

Angel Pasqual del Pobil José Mira Moonis Ali

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© 1998 Springer-Verlag Berlin Heidelberg

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Pérez-Francisco, M., del Pobil, A.P., Martfnez-Salvador, B. (1998). Coordinated motion of two robot arms for real applications. In: Pasqual del Pobil, A., Mira, J., Ali, M. (eds) Tasks and Methods in Applied Artificial Intelligence. IEA/AIE 1998. Lecture Notes in Computer Science, vol 1416. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-64574-8_398

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  • DOI: https://doi.org/10.1007/3-540-64574-8_398

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-64574-0

  • Online ISBN: 978-3-540-69350-5

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