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| 008 | 100500s1999 th uzm rtt 00| a1eng d | ||
| 035 | _a.b11787752 | ||
| 099 | 9 | _aAIT Thesis no. CS-99-15 | |
| 100 | 0 | _aSomrak Petchartee | |
| 245 | 1 | 0 | _aCooperation of multiple robot arms by kinematic-coordinate transformation distribution |
| 260 |
_aBangkok : _bAsian Institute of Technology, _c1999 |
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| 300 | _a174 p. | ||
| 490 | 1 |
_aThesis ; _vno. CS-99-15 |
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| 500 | _aA thesis submitted in partial fulfillment of the requirements for the degree of Master of Engineering, School of Engineering and Technology | ||
| 502 | _aThesis (M.Eng.) - Asian Institute of Technology, 1999 | ||
| 520 | _aThis 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. | ||
| 650 | 0 |
_aRobots _xKinematics |
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| 700 | 1 |
_aYulu, Qi, _eChairperson |
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| 700 | 0 |
_aManukid Parnichkun, _eExamination Committee |
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| 700 | 1 |
_aBatanov, Dentcho N., _eExamination Committee |
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| 710 | 2 |
_aRoyal Thai Government, _eScholarship donor |
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| 810 | 2 |
_aAsian Institute of Technology. _tThesis ; _vno. CS-99-15 |
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| 856 |
_3Full-Text _uhttp://203.159.5.9/ait-thesis/detail.php?q=B12702 |
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