System Design for Automation in Multi-Agent-Based Manufacturing Systems
| Autor: | Samyeul Noh, Jun-Hee Park |
|---|---|
| Rok vydání: | 2020 |
| Předmět: |
0209 industrial biotechnology
Inverse kinematics Computer science 020208 electrical & electronic engineering Control engineering 02 engineering and technology Workspace Task (project management) 020901 industrial engineering & automation 0202 electrical engineering electronic engineering information engineering Task analysis Robot Systems design Motion planning Robotic arm |
| Zdroj: | 2020 20th International Conference on Control, Automation and Systems (ICCAS). |
| DOI: | 10.23919/iccas50221.2020.9268357 |
| Popis: | This paper proposes a system design for automation in multi-agent-based manufacturing systems to conduct a given complex task automatically by controlling multiple robotic manipulators in a systematic manner. To this end, the proposed system is designed with three-module configurations: environmental perception, task planning, and motion planning. The environmental perception module utilizes a vision sensor to recognize all objects placed on the workspace and extract their unique ID, size, and pose. The task planning module divides a given task into primitive skill levels and distributes each primitive skill to the associated robotic manipulator with the relevant object information in a systematic manner for robotic manipulators not to collide with each other. The motion planning module determines the motion of a robotic arm and a robotic hand by solving inverse kinematics for the robotic arm and by opening or closing two fingers. The proposed system has been tested and verified in real robot environments through a complex task "peg in hole" that requires at least two robotic manipulators. |
| Databáze: | OpenAIRE |
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