Real-time trajectory resolution for dual robot machining

W. S. Owen, E. A. Croft, B. Benhabib

Research output: Chapter in Book/Report/Conference proceedingConference PaperOther

4 Citations (Scopus)

Abstract

A real-time trajectory planner is presented. A two-pronged approach provides alternative trajectories in response to disturbances encountered during a two-manipulator machining application. First, based on the current torque demand, a weighted pseudo-inverse technique is used to reduce the joint accelerations contributing the most to the saturated joint torques. Second, the null space of the relative Jacobian is exploited to minimize the compliance of the system. Influence coefficients are used to share the null space between the cost function and penalty functions.

Original languageEnglish
Title of host publicationProceedings- 2004 IEEE International Conference on Robotics and Automation
Pages4332-4337
Number of pages6
Volume2004
Edition5
Publication statusPublished - 5 Jul 2004
Externally publishedYes
EventIEEE International Conference on Robotics and Automation 2004 - New Orleans, United States of America
Duration: 26 Apr 20041 May 2004
https://ieeexplore.ieee.org/xpl/conhome/9126/proceeding?isnumber=29020 (Proceedings)

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

ConferenceIEEE International Conference on Robotics and Automation 2004
Abbreviated titleICRA 2004
CountryUnited States of America
CityNew Orleans
Period26/04/041/05/04
Internet address

Keywords

  • Multi robots
  • Redundant manipulators
  • Trajectory generation

Cite this

Owen, W. S., Croft, E. A., & Benhabib, B. (2004). Real-time trajectory resolution for dual robot machining. In Proceedings- 2004 IEEE International Conference on Robotics and Automation (5 ed., Vol. 2004, pp. 4332-4337). (Proceedings - IEEE International Conference on Robotics and Automation).