面向零件的多机器人分布式任务规划

Proceedings of IEEE 2nd International Workshop on Emerging Technologies and Factory Automation (ETFA '93) Pub Date : 1993-09-27 DOI:10.1109/ETFA.1993.396408

T. Nagata, J. Hirai

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引用次数: 1

摘要

多机器人装配任务规划非常复杂和繁琐。为了避免这一问题，提高装配任务的灵活性和可靠性，提出了一种新的多机器人装配任务规划系统。在这个系统中，组成机器的零件被当作零件对象来处理，组装机器的计划作为这些对象的自主行为的结果自动生成。在此概念的基础上，对规划体系进行了概述。给出了采用协同计算模型的一些仿真结果

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Parts-oriented and distributed task planning for multiple robots

Assembly task planning for multiple robots is highly complicated and cumbersome. A new assembly task planning system for multiple robots is proposed to avoid this problem and to improve the flexibility and the reliability in assembly tasks. In this system, parts with which a machine is composed are handled as part-objects and plans for assembling the machine are automatically generated as results of autonomous behaviors of these objects. The outline of the planning system, based on this concept is described. Some simulation results using a cooperative computational model are given.<>

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Proceedings of IEEE 2nd International Workshop on Emerging Technologies and Factory Automation (ETFA '93)

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