Coordinated planning and control of multiple robots and machines for surface-mount manufacturing

J. S. Gyorfi, Chi Haur Wu

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

A general two-phase coordinated planning and control algorithm is developed to determine optimal motions among obstacles and dynamic objects in a shared environment. The algorithm consists of a two-phase approach: Planning a global path for each object subject to the constraints of the workspace and then locally optimizing along each global path to minimize some process dependent cost function. The order in which objects are planned will also affect the overall performance of the system. The algorithm is applied to a simulated surface-mount assembly system. The results show an improvement over other planning and control methods.

Original languageEnglish (US)
Title of host publicationProceedings - IEEE International Joint Symposia on Intelligence and Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages268-272
Number of pages5
ISBN (Print)078034863X, 9780780348639
DOIs
StatePublished - Jan 1 1998
Event1998 IEEE International Joint Symposia on Intelligence and Systems - Rockville, United States
Duration: May 21 1998May 23 1998

Publication series

NameProceedings - IEEE International Joint Symposia on Intelligence and Systems

Other

Other1998 IEEE International Joint Symposia on Intelligence and Systems
Country/TerritoryUnited States
CityRockville
Period5/21/985/23/98

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Networks and Communications
  • Computer Science Applications
  • Signal Processing

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