Real-time trajectory resolution for a two-manipulator machining system

Journal of Robotic Systems

Volumn 22, Issue SUPPL., 2006, Pages

  Owen, W S ^a   Croft, E A ^b   Benhabib, B ^a  

^a UNIVERSITY OF TORONTO   (Canada)

^b UNIVERSITY OF BRITISH COLUMBIA   (Canada)

Author keywords

[No Author keywords available]

Indexed keywords

ALGORITHMS; COMPUTER SIMULATION; END EFFECTORS; MANIPULATORS;

REAL-TIME TRAJECTORY PLANNER; ROBOTIC MACHINING; TIME-SCALLING ALGORITHM; TWO-MANIPULATOR MACHINING SYSTEM;

ROBOTICS;

EID: 33750337161     PISSN: 07412223     EISSN: None     Source Type: Journal    
DOI: 10.1002/rob.20151     Document Type: Article

References (26)

1. H.-K. Huang and G.C.I. Lin, Rapid and flexible prototyping through a dual-robot workcell, J. Robot. Comput.-Integr. Manuf. 19 (2003), 263-272.
2. G.C.I. Lin, Y. Yousheng, and T.F. Lu, Prototyping cylindrical cams by two robots, Proc. Pacific Conf. on Manufacturing, Brisbane, Australia, Vol. 2 (1998), pp. 923-926.
3. J.W.H. Tangelder and J.S.M. Vergeest, Robust NC path generation for rapid shape prototyping, J. Design Manufact. 4 (1994), 281-292.
4. Y.H. Chen and Y.N. Hu, Implementation of a robot system for sculptured surface cutting. Part 1. Rough machining, Int. J. Adv. Manuf. Technol. 15:(9) (1999), 624-629.
5. J.M. Hollerbach, Dynamic scal0ing of manipulator trajectories, Trans. ASME J. Dynam. Syst. Measure. Control 106 (1984), 102-106.
6. S.B. Moon and S. Ahmad, Time scaling of cooperative multirobot trajectories, IEEE Trans. Systems, Man, and Cybernetics 21:(4) (1991), 900-908.
7. E. Tabarah, B. Benhabib, and R.G. Fenton, Optimal motion coordination of two robots - A polynomial parameterization approach to trajectory resolution, J. Robot. Syst. 11:(7) (1994), 615-629.
8. A.D. Luca and R. Farina, Dynamic scaling of trajectories for robots with elastic joints, Proc. IEEE Int. Conf. on Robotics and Automation, Washington, D.C., Vol. 3 (2002), pp. 2436-2442.
9. T. Sugie, K. Fujimoto, and Y. Kito, Obstacle avoidance of manipulators with rate constraints, IEEE Trans. Robot. Autom. 19:(1) (2003), 168-174.
10. G. Antonelli, S. Chiaverini, and G. Fusco, A new online algorithm for inverse kinematics of robot manipulators ensuring path tracking capability under joint limits, IEEE Trans. Robot. Automat. 19:(1) (2003), 162-167.
11. Y. Ting, S. Tosunoglu, R. Freeman, and D. Tesar, Saturation avoidance methods for serial robots operating under a failure, J. Robot. Syst. 16:(12) (1999), 667-678.
12. O. Dahl and L. Nielsen, Torque-limited path following by on-line trajectory time scaling, IEEE Trans. Robot. Automat. 6:(5) (1990), 554-561.
13. J.E. Bobrow, S. Dubowsky, and J.S. Gibson, Time-optimal control of robotic manipulators along specified paths, Int. J. Robot. Res. 4:(3) (1985), 3-17.
14. L. Sciavicco and B. Siciliano, Modeling and control of robot manipulators, 2nd ed., McGraw-Hill, New York, 2000.
15. C.L. Lewis and A.A. Maciejewski, Trajectory generation for cooperating robots, Proc. IEEE Int. Conf. on Systems Engineering, Pittsburgh, PA (1990), pp. 300-303.
16. A. Mohri, M. Yamamoto, and G. Hirano, Cooperative path planning for two manipulators, Proc. IEEE Int. Conf. on Robotics and Automation, Minneapolis, MN, Vol. 3 (1996), pp. 2853-2858.
17. J.-D. Choi, S. Kang, M. Kim, C.W. Lee, and J.-B. Song, Two-arm cooperative assembly using force-guided control with adaptive accommodation, Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Kyongju, South Korea, Vol. 2 (1999), pp. 1253-1258.
18. W.S. Owen, E.A. Croft, and B. Benhabib, Minimally compliant trajectory resolution for robotic machining, Proc. IEEE Int. Conf. on Advanced Robotics, Coimbra, Portugal, Vol. 2 (2003), 702-707.
19. K. Kazerounian and Z. Wang, Global versus local optimization in redundancy resolution of robotic manipulators, Int. J. Robotics Research 7:(5) (1988), 3-12.
20. J.W. Jeon and C.S.G. Lee, A kinetic redundancy resolution with local optimization of a kinematic criterion, Proc. IEEE Int. Conf. on Systems, Man, and Cybernetics, Los Angeles, CA (1990), pp. 102-107.
21. W.S. Owen, E.A. Croft, and B. Benhabib, Real-time trajectory resolution for dual robot machining, IEEE Int. Conf. on Robotics and Automation, New Orleans, LA, Vol. 5 (2004), pp. 4332-4337.
22. C.K. Chui and G. Chen, Kalman filtering with real-time applications, 2nd ed., Springer-Verlag, New York, 1991.
23. K. Dutton, S. Thompson, and B. Barraclough, The art of control engineering, Addison-Wesley, Harlow, England, 1997.
24. G. Zak, G. Hexner, E.A. Croft, B. Benhabib, and R.G. Fenton, A prediction based strategy for robotic interception of moving targets, Proc. IEEE Canadian Conf. on Electrical and Computer Engineering, Vancouver, Canada, Vol. 2 (1993), pp. 1069-1072.
25. R.V. Hogg and J. Ledolter, Engineering statistics, Macmillan, New York, 1987.
26. Y. Altintas, Manufacturing automation: Metal cutting mechanics, machine tool vibrations, and CNC design, Cambridge University Press, Cambridge, UK, 2000.