Accession Number : ADA190869

Title :   The Coordination of Multiple Robotic Manipulators.

Descriptive Note : Master's thesis,

Corporate Author : ARMY MILITARY PERSONNEL CENTER ALEXANDRIA VA

Personal Author(s) : Young, Reed F

PDF Url : ADA190869

Report Date : 11 Dec 1987

Pagination or Media Count : 176

Abstract : In this thesis, the problem of the coordination of multiple robots is investigated at length. Included in the discussion are the position control, path planning, and collision avoidance strategies involved in the control of two robots mutually holding an object. The theories and algorithms presented in this thesis are tested and implemented in the computer simulation CoordSim. Major results from this thesis include a verification of the resolved position control theory as it drives the robots to any position and orientation. Also, a concatenation and adaption of various single robot theories is made and introduced as the Striving Technique. This solution is a complete movement algorithm which drives the two robots mutually holding an object through a field with obstacles. The algorithm also generates a path function given only the start and end positions and orientations. Finally, the concepts of the coordinated work envelope and twisting collision are derived and discussed. Keywords: Theses; Computer graphics.

Descriptors :   *MANIPULATORS, *ROBOTICS, ALGORITHMS, COLLISION AVOIDANCE, COMPUTER GRAPHICS, COMPUTERIZED SIMULATION, CONTROL, CONTROL THEORY, PATHS, PLANNING, POSITION(LOCATION), ROBOTS, STRATEGY, THEORY, THESES

Subject Categories : Mfg & Industrial Eng & Control of Product Sys
      Cybernetics

Distribution Statement : APPROVED FOR PUBLIC RELEASE