TY  - SER
AU  - Somrak Petchartee
AU  - Yulu,Qi
AU  - Manukid Parnichkun,
AU  - Batanov,Dentcho N.
ED  - Royal Thai Government,
TI  - Cooperation of multiple robot arms by kinematic-coordinate transformation distribution
T2  - Thesis
PY  - 1999///
CY  - Bangkok
PB  - Asian Institute of Technology
KW  - Robots
KW  - Kinematics
N1  - A thesis submitted in partial fulfillment of the requirements for the degree of Master of Engineering, School of Engineering and Technology; Thesis (M.Eng.) - Asian Institute of Technology, 1999
N2  - This study addresses the application of robot to cooperate together. The use of two or more robots in a common workspace is essential to enhance the utilization of robots, increase productivity, and improve the versatility of potential applications. If two or more robots are used in a common workspace, they became obstacles together. Therefore, motion planning must include detection and avoidance of collisions between them. The focus of this thesis is on collision-free motion of three robot arms in common workspace. A collision-free motion is obtained by detecting collisions along the straight-line trajectories of the robots and then replanning the paths and I or trajectories of one or both of the robots to avoid the collision. In this thesis, a novel approach to collision detection is presented and the techniques to avoid collisions are briefly discussed. Collisions are restricted to be among three robots, which correspond to the upper links of CRS-A255 manipulators
UR  - http://203.159.5.9/ait-thesis/detail.php?q=B12702
ER  -