A Path Planning for Coordinated Work by Multi-Robot System.

摘要

This paper discusses a path planning problem for a coordinated work by multi-robot system. The problem is how to move each robot's arm cooperatively to execute specified works. Various styles of coordinated work, which is based on the classification from a kinematic point of view for the relation of each robot's end-effector, are discussed. Mainly in this paper, a work while one robot is holding or carrying a workpiece, another robot executes a specified work with tools, is developed as a typical example of an interest coordinated work. The redundancy peculiar to the coordinated work is presented by the kinematic analysis of two-robot system. An algorithm to plan a coordinated motion is proposed by using the redundancy. As numerical examples, the proposed method is applied to a coordinated motion planning by two planar manipulators with three-links.