Optimization criterion for safety task transfer in cooperative robotics
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This paper presents a strategy for a cooperative multirobot system, constituting a Virtual Robot. The Virtual Robot is composed of a set of robotic arms acting as only one, transferring the execution of a teleoperated task from one to another when necessary. To decide which of the robots is the most suitable to execute the task at every instant, a multiparametric decision function has been defined. This function is based on a set of intrinsic and extrinsic evaluation indexes of the robot. Since the internal operation of the Virtual Robot must be transparent to the user, a control architecture has been developed.
CitacióHernansanz, A.; Amat, J.; Casals, A. Optimization criterion for safety task transfer in cooperative robotics. A: International Conference on Advanced Robotics. "14th International Conference on Advanced Robotics". Munich: 2009, p. 1-6.
Versió de l'editorhttp://www.icar2009.org/