Motion Planning for Cooperative Robotic Systems Performing Contact Operations

[+] Author and Article Information
E. Tabarah, B. Benhabib, R. G. Fenton

Computer Integrated Manufacturing Laboratory, Department of Mechanical Engineering, University of Toronto, Toronto, Canada

J. Mech. Des 116(4), 1177-1180 (Dec 01, 1994) (4 pages) doi:10.1115/1.2919505 History: Received August 01, 1993; Revised May 01, 1994; Online June 02, 2008


Two algorithms are developed in this paper for the optimal motion coordination of a pair of industrial robots engaged in contact operations such as part machining or deburring. In the first algorithm the two robots jointly grasp a tool, and move it in such a way that it performs a prescribed contact operation along the surface of a workpiece. In the second algorithm, one robot grasps the tool while a second robot grasps and maneuvers the workpiece; both robots move simultaneously relative to each other so that the tool maintains contact with the workpiece while tracking a prescribed trajectory along its surface at a constant speed.

Copyright © 1994 by The American Society of Mechanical Engineers
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