Online collision avoidance method for command-based manipulators by allocating priority to job consists of PTP commands (Prioritization of specify job and correspondence to job that manipulator can't avoid halfway)
Author:
Affiliation:
1. Graduate School of Systems and Information Engineering, University of Tsukuba
2. Faculty of Engineering, Information and Systems, University of Tsukuba
Publisher
Japan Society of Mechanical Engineers
Link
https://www.jstage.jst.go.jp/article/transjsme/84/864/84_18-00078/_pdf
Reference9 articles.
1. Afaghani, A. Y., On-line collision and deadlock avoidance of PTP command-based industrial manipulators using advanced collision map, University of Tsukuba (2015), Ph.D. Thesis.
2. Afaghani, A. Y. and Aiyama, Y., On-line collision detection of n-robot industrial manipulators using advanced collision map, International Conference on Advanced Robotics (ICAR), Istanbul (2015), pp. 422-427.
3. Akella, S. and Peng, J., Time-scaled coordination of multiple manipulators, Proceeding of the 2004 IEEE International Conference on Robotics & Automation (ICRA), New Orleans (2004), pp. 3377-3344.
4. Kagami, S., A realtime operating system“ART-Linux”for robot system development, Journal of the Robotics Society of Japan, Vol.31, No.3 (2013), pp.222-225 (in Japanese).
5. NEDO Advanced Intelligent Robot Technology Development Project, Basic plan (2008) (in Japanese).
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