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Optimization of robot coordination using temporal synchronization
dc.contributor.author | Rodriguez, Carlos |
dc.contributor.author | Montaño Sarria, Andrés Felipe |
dc.contributor.author | Suárez Feijóo, Raúl |
dc.contributor.other | Universitat Politècnica de Catalunya. Institut d'Organització i Control de Sistemes Industrials |
dc.date.accessioned | 2015-02-27T12:02:25Z |
dc.date.created | 2014 |
dc.date.issued | 2014 |
dc.identifier.citation | Rodriguez, C.; Montaño, A.; Suarez, R. Optimization of robot coordination using temporal synchronization. A: IEEE International Conference on Emerging Technologies and Factory Automation. "Proceedings of the 19th IEEE International Conference on Emerging Technologies and Factory Automation". Barcelona: Institute of Electrical and Electronics Engineers (IEEE), 2014. |
dc.identifier.isbn | 978-1-4799-4846-8 |
dc.identifier.uri | http://hdl.handle.net/2117/26540 |
dc.description.abstract | This work presents an optimization method applied to robot coordination using temporal synchronization. The coordination process considers the possibility of using multi-robot systems in which each robot executes individually planned tasks in a shared environment. The coordination process generates a curve in a discretized coordination space that contains the sequence of coordinated configurations of the robots, this curve can be optimized in order to minimize the backward movements of the robots during their path execution. The optimization method was implemented for a two arm robotic system, a comparison between the executions with and without optimization was performed, and two illustrative experiments are presented in this paper. |
dc.language.iso | eng |
dc.publisher | Institute of Electrical and Electronics Engineers (IEEE) |
dc.subject | Àrees temàtiques de la UPC::Informàtica::Robòtica |
dc.subject.lcsh | Robots -- Control systems |
dc.title | Optimization of robot coordination using temporal synchronization |
dc.type | Conference report |
dc.subject.lemac | Robots -- Sistemes de control |
dc.contributor.group | Universitat Politècnica de Catalunya. SIR - Service and Industrial Robotics |
dc.identifier.doi | 10.1109/ETFA.2014.7005173 |
dc.rights.access | Restricted access - publisher's policy |
local.identifier.drac | 15436860 |
dc.description.version | Postprint (published version) |
dc.date.lift | 10000-01-01 |
local.citation.author | Rodriguez, C.; Montaño, A.; Suarez, R. |
local.citation.contributor | IEEE International Conference on Emerging Technologies and Factory Automation |
local.citation.pubplace | Barcelona |
local.citation.publicationName | Proceedings of the 19th IEEE International Conference on Emerging Technologies and Factory Automation |