Abstract
We previously proposed a general algorithm for coordinating the motions among multiple machines in a shared assembly environment based on a constant-speed motion model. In this paper, we extend this work to a minimum-jerk polynomial motion model and describe a new speed-planning algorithm to plan automated assembly machines' motions. Machines are planned sequentially, based on their priorities, by mapping the motions of higher-priority machines into forbidden regions in two-dimensional space-time graphs. Collision-free minimum-jerk motions are then planned between the forbidden regions in the graphs. The new speed-planning algorithm is evaluated on a dual-robot surface-mount technology assembly machine in which both robots share a common workspace.
| Original language | English (US) |
|---|---|
| Article number | 1707961 |
| Pages (from-to) | 454-462 |
| Number of pages | 9 |
| Journal | IEEE Transactions on Automation Science and Engineering |
| Volume | 3 |
| Issue number | 4 |
| DOIs | |
| State | Published - Oct 2006 |
Keywords
- Assembly
- Manipulator motion planning
- Manufacturing automation
- Motion control
- Motion planning
ASJC Scopus subject areas
- Control and Systems Engineering
- Electrical and Electronic Engineering