Planificación de Movimientos y Control de Fuerza en Entornos Multi-Robot

Ramón Costa Castelló, Luis Basañez Villaluenga

Resumen

En este artículo se presentan las características y posibilidades más destacadas de los sistemas multi-robot en los que diferentes robots actúan de manera coordinada en un espacio de trabajo compartido. A tal efecto, se pasa revista a los principales enfoques existentes y a los algoritmos utilizados para la planificación y control de estos sistemas. El artículo se completa con una breve exposición de algunos trabajos realizados en los últimos tiempos en el Institut d’Organització i Control de Sistemes Industrials (IOC) dentro de este ámbito.

Palabras clave

Multi-robot; control; planificación

Texto completo:

PDF

Referencias

Al-Jarrah, Omar, Yuan F. Zheng and Keon-Young Yi (1995). Trajectory planning for two manipulators to deform flexible materials using compliant motions. In: Proc. of the 1995 IEEE Int. Conf. On Robotics And Automation. Vol. 2. Nagoya, Aichi, Japan. pp. 1517–1523.

An, C.H. (1986). Trajectory and force control of a direct drive arm. Report ai-tr-912 (phd thesis). MIT Artificial Intelligence Laboratory.

Arimoto, S., F. Miyazaki and S. Kawamura (1987). Cooperative motion of multiple robot arms or fingers. In: Proc. of the 1987 IEEE Int. Conf. On Robotics And Automation. Vol. 3. Raleigh, North Carolina. pp. 1407–1412.

Asada, Haruhiko and Jean-Jacques E. Slotine (1986). Robot Analysis and Control. John Wiley Sons, Inc.

Barraquand, Jérome and Pierre Ferbach (1994). A penalty function method for constrained motion planning. In: Proc. of the 1994 IEEE Int. Conf. on Robotics and Automation. San Diego, California. pp. 1235–1242.

Barraquand, Jérome and Pierre Ferbach (1993). Path planning through variational dynamic programming. 33. Digital Equipment Corporation, Paris Research Laboratory. Paris.

Barraquand, Jérome, Bruno Langlois and Jean-Claude Latombe (1990). Robot motion planning with many degrees of freedom and dynamic constraints. Robotics Research (5), 435–444.

Bicchi, A. and D. Prattichizzo (1998). Manipulability of cooperating robots with passive joints. In: Proc. of the 1998 IEEE Int. Conf. On Robotics And Automation. pp. 1038–1044.

Blume, Christian, Stefan Krisch and Wilfried Jakob (1994). Robot trajectory planning with collision avoidance using genetic algorithms and simulation. In: Proc. Of the 25th Int. Symposium on Industrial Robots. Hannover.pp. 169–175.

Boleko, Salvador, Ramon Costa-Castelló and Luis Basañez Villaluenga (2001). On the identification and control of internal forces in multirobot manipulation. In: Proceedings of the 32nd ISR (International Symposium on Robotics). Seoul (Korea). pp. 108–113.

Brooks, R.A. (1983). Solving the find-path problem by good representation of free space. IEEE Trans. on Systems, Man, and Cybernetics 13 (3), 190–197.

Brooks, R.A. and T. Lozano-Pérez (1985). A subdivision algorithm in configuration space for findpath with rotation. IEEE Trans. On Systems, Man, and Cybernetics 15 (2), 224–233.

Caccavale, F. and L. Villani (2000). Impedance control for multi-arm manipulation. In: Proceedings of the 39th IEEE Conference on Decision and Control. Vol. 4. pp. 3465 – 3470.

Canny, J.F. (1985). A voronoi method for the piano-movers problem. In: Proc. of the 1985 IEEE Int. Conf. on Robotics and Automation. St Louis, Missouri. pp. 530–535.

Chang, Cheol, Myung Jin Chung and Bum Hee Lee (1994). Collision avoidance ot two general robot manipulators by minimun delay time. IEEE Trans. On Systems, Man And Cybernetics 24 (3), 517–522.

Clark, C.J. and L. Stark (1986). A comparison of control laws for a cooperative robot system. In: Proc. of the 1986 IEEE Int. Conf. on Robotics and Automation. Vol. 1. San Francisco, California. pp. 390–394.

Connolly, T.H. and F. Pfeiffer (1994). Cooperating manipulator control with feedforward dynamic compensation. In: Preprints of the Fourth IFAC Symposium on Robot Control (ISIR). Vol. 3. Capri, Italy. pp. 993–998.

Costa-Castelló, Ramon and Luis Basañez (1999). Understanding workspace structure of multi-robot systems. In: Proceedings of the 7th IEEE International Conference on Emerging Technologies and Factory Automation (ET-FA’99). Barcelona. pp. 129–135.

Costa-Castelló, Ramon and Luis Basañez (2001). Robots optimal placement for cooperatively manipulation. In: Preprints 6th IFAC Symposium on Robot Control (SYROCO’00). Vienna University of Technology. pp. 621–626.

Costa-Castelló, Ramon and Luis Basañez (2003). Part position and orientation in cooperative multirobot manipulation. In: Proceedings of 7th IFAC Symposium on Robot Control(SYROCO’03). Wroclaw (Poland).pp. 467–472.

Costa-Castelló, Ramon, Raúl Suárez and Luis Basañez (1995). Control deslizante de la posición de un objeto manipulado cooperativamente por varios robots. In: Memoria Técnica del Seminario Anual de Automática y Electrónica Industrial. Tarragona, Spain. pp. 447–450.

Costa-Castelló, Ramon, Robert Griñó and Luis Basañez (1998). Constrained methods in modelling constrained robotic systems. Computación y Sistemas 1 (3), 145–160. ISSN 1405-5546.

Cox, Daniel J. and Delbert Tesar (1994). Multi-level criteria for dual-arm robotic operations. In: Proc. of the 1994 IEEE Int. Conf. on Robotics and Automation. San Diego, California. pp. 1243–1249.

Craig, John J. (1986). Introduction to Robotics, Mechanics Control. Addison Wesley.

Dellinger, W.F. and J.N. Anderson (1992). Interactive force dynamics of two robotic manipulators grasping a non-rigid object. In: Proc. of the 1992 IEEE Int. Conf. On Robotics And Automation. Vol. 3. Nice, France. pp. 2205–2210.

Derventzis, C.A. and E.J. Davison (1992). Robust motion/force control of cooperative multi-arm systems. In: Proc. of the 1992 IEEE Int. Conf. On Robotics And Automation. Vol. 3. Nice, France. pp. 2230–2237.

Doyle, A.B. and D.I. Jones (1994). A tangent based method for robot path planning. In: Proc. of the 1994 IEEE Int. Conf. On Robotics And Automation. San Diego, California. pp. 1561–1566.

Fargas-Marques, A., R. Costa-Castelló and L. Basañez (2000). Spatial impedance control in coordinated manipulation. In: Preprints 6th IFAC Symposium on Robot Control (SYROCO’00). Vienna (Austria). pp. 615–620.

Fischer, Max (1994). Efficient path planning strategies for cooperating manipulators in enviroments with obstacles. In: Proc. Of the 1994 IEEE Int. Conf. on Robotics and Automation. San Diego, California. pp. 2418–2423.

Fisher, W. and M. Mujtaba (1992). Hybrid position/force control: A correct formulation. The Int. Journal of Robotics Research 11 (4), 299–311.

Freund, E. and H. Hoyer (1988). Real-time pathfinding in multirobot systems including obstacle avoidance. The Int. Journal Of Robotics Research 7 (1), 42–70.

Freund, E. and J. Rossmann (2003). The basic ideas of a proven dynamic collision avoidance approach for multi-robot manipulator systems. In: Proceedings of 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS’03). Vol. 2. pp. 1173 –1177.

Furuta, Katsuhisa, Kazuhiro Kosuge, Yoshinori Shiote and Hiromu Hatano (1987). Master-slave manipulator based on virtual internal model following control concept. In: Proc. Of the 1987 IEEE Int. Conf. On Robotics And Automation. Vol. 1. Raleigh, North Carolina. pp. 567–572.

Gupta, Kamal Kant and Xinyu Zhu (1994). Practical global motion planning for many degrees of freedom: A novel approach within sequential framework. In: Proc. of the 1994 IEEE Int. Conf. On Robotics And Automation. San Diego, California. pp. 2038–2043.

Hayati, Samad (1986). Hybrid position/forcé control of multi-arm cooperating robots. In: Proc. of the 1986 IEEE Int. Conf. On Robotics And Automation. Vol. 1. San Francisco, California. pp. 82–89.

Hayward, Vicent, Stéphane Aubry, André Foisy and Yasmine Ghallab (1995). Efficient collision prediction among many moving objects. The Int. Journal of Robotics Research 14 (2), 129–143.

Hayward, Vincent (1986). Fast collision detection scheme by recursive decomposition of A manipulator workspace. In: Proc. of the 1986 IEEE Int. Conf. on Robotics and Automation. San Francisco, California. pp. 1040–1049.

Hu, Yan-Ru and A.A. Goldenberg (1989). An adaptative approach to motion and forcé control of multiple coordinated robot arms. In: Proc. of the 1989 IEEE Int. Conf. On Robotics And Automation. Vol. 2. Scottsdale,Arizona. pp. 1091–1096.

Hu, Yan-Ru and Andrew A. Goldenberg (1993). Dynamic control of coordinated redundant robots with torque optimization. Automatica 29 (6), 1411–1424.

Hwang, Yong K. (1990). Boundary equations of configuration obstacles for manipulators. In: Proc. of the 1990 IEEE Int. Conf. On Robotics And Automation. Hyatt Regency Cincinnati, Ohio. pp. 298–303.

Ibrahim Uzmaya, Recep Burkanb and Hurvet Sarikayac (2004). Application of robust and adaptive control techniques to cooperative manipulation. Control Engineering Practice 12, 139148.

Jing, Hsu Wen (1994). Two arms are faster tan one. The Int. Journal Of Robotics Research 13 (4), 364–368.

Khalil, Wisama and Fouad Bennis (1995). Symbolic calculation of the base inertial parameters of closed-loop robots. The Int. Journal Of Robotics Research 14 (2), 112–128.

Khosla, Pradeep and Richard Volpe (1988). Superquadradic artificial potentials for obstacle avoidance and approach. In: Proc. of the 1988 IEEE Int. Conf. On Robotics And Automation. Philadelphia, Pennsylvania. pp. 1778–1784.

Koga, Yoshihito (1994). On Computing Multi-Arm Manipulation Trajectories. PhD thesis. Stanford.

Koga, Yoshihito and Jean-Claude Latombe (1994). On multi-arm manipulation planning. In: Proc. of the 1994 IEEE Int. Conf. On Robotics and Automation. San Diego, California. pp. 945–952.

Latombe, Jean-Claude (1991). Robot Motion Planning. Kluwer Academic Pubishers.

LaValle, S. M. (1999-2004). Planning Algorithms. [Online]. Available at http://msl.cs.uiuc.edu/planning/.

Lin, Chi-Fang and Wen-Hsiang Tsai (1991). Motion planning for multiple robots with multi-mode operations via disjunctive graphs. Robotica 9, 393–408.

Lozano-Pérez, Tomás (1983). Spatial planning: A configuration space approach. IEEE Trans. on Computers 32 (2), 108–120.

Lozano-Pérez, Tomás (1987). A simple motion-planning algorithm for general robot manipulators. IEEE Journal of Robotics and Automation 3 (3), 224–238.

Luecke, G.R. and J.F. Gardner (1994). Experimental results for force distribution in cooperating manipulator sytems using local joint control. The Int. Journal of Robotics Research 13 (6), 471–480.

Luh, J.Y.S. and Y.F. Zheng (1987). Constrained relations between two coordinated industrial robots for motion control. The Int. Journal Of Robotics Research 6 (3), 60–70.

McClamroch, N. Harris (1986). Singular systems of differential equations AS dynamic models for constrained robot systems. In: Proc. Of the 1986 IEEE Int. Conf. On Robotics And Automation. Vol. 1. San Francisco, California. pp. 21–28.

McMillan, Scott, P. Sadayappan and David E. Orin (1994). Efficient dynamic simulation of multiple manipulator systems with singulatr configurations. IEEE Trans. On Systems, Man Ans Cybernetics 24(2), 306–313.

Mohri, Akira, Motoji Yamamoto and Shinya Marushima (1993). Collision-free trajectory planning for two manipulators using virtual coordination space. In: Proc. of the 1993 IEEE Int. Conf. On Robotics And Automation. Vol. 1. Atlanta, Georgia. pp. 674–679.

Nagata, Tadashi, Kunihiko Honda and Yoshiaki Teramoto (1988). Multirobot plan generation in A continous domain: Planning by use of plan graph and avoiding collisions among robots. IEEE Journal Of Robotics And Automation 4 (1), 2–13.

Nakamura, Yoshihiko, Kiyoshi Nagai and Tsuneo Yoshikawa (1989). Dynamics and stability in coordination of multiple robotics mechanisms. The Int. Journal of Robotics Research 8 (2), 45–61.

O’Donnell, Patrick A. and Tomás Lozano-Pérez (1989). Deadlock-free and collision-free coordination of two robot manipulators. In: Proc. of the 1989 IEEE Int. Conf. On Robotics And Automation. Vol. 1. Scottsdale, Arizona. pp. 484–489.

Osumi, Hisashi and Tamio Arai (1994). Cooperative control between two position-controlled manipulators. In: Proc. of the 1994 IEEE Int. Conf. On Robotics And Automation. Vol. 2. San Diego, California. pp. 1509–1515.

Özgüner, U., S. Yurkovich, F. Al-Abbass and Hiromu Hatano (1987). Decentralized variable structure control of A two-arm robotic system. In: Proc. of the 1987 IEEE Int. Conf. On Robotics And Automation. Vol. 3. Raleigh, North Carolina. pp. 1248–1254.

Paljug, Eric, Xiapoing Yun and Vijay Kumar (1994). Control of rolling contacts in multi-arm manipulation. IEEE Trans. On Robotics And Automation 10 (4), 441–452.

Park, F.C. and Jin Wook Kim (1998). Manipulability and singularity analysis of multiple robot systems: A geometrical approach. In: Proc. of the 1998 IEEE Int. Conf. On Robotics And Automation. pp. 1032–1037.

Ramadorai, A.K., T.J. Tarn and A.K. Bejczy (1992). Task definition, decoupling and redundancy resolution by nonlinear feedback in multi-robot object handling. In: Proc. of the 1992 IEEE Int. Conf. On Robotics And Automation. Vol. 1. Nice, France. pp. 467–472.

Roach, John W. and Michael Boaz (1987). Coordinating the motions of robot arms in A common workspace. IEEE Journal Of Robotics And Automation RA-3 (5), 437–444.

Schneider, Stanley A. and Robert H. Cannon (1992). Object impedance control for control for cooperative manipulation: Theory and experimental results. IEEE Trans. on Robotics and Automation 8 (3), 383–394.

Sciavicco, L. and B. Siciliano (2000). Modelling and Control of Robot Manipulators. Advanced Textbooks in Control and Signal Processing. 2nd ed. ed. Springer Verlag.

Shih, Ching-Long, J. Peter Sadler and William A. Gruver (1991). Collision avoidance for two SCARA robots. In: Proc. of the 1991 IEEE Int. Conf. on Robotics and Automation. Sacramento, California. pp. 674–679.

Smith, R.E. and M. Gini (1986). Robot tracking and control issues in an intelligent error recovery system. In: Proc. of the 1986 IEEE Int. Conf. on Robotics and Automation. San Francisco, California. pp. 1070–1075.

Stramigioli, Stefano, Cristian Secchi, Arjan v.d. Schaft and Cesare Fantuzzi (2004). Sampled data systems passivity and sampled port-hamiltonian systems. IEEE Transactions of Robotics and Automation

Tao, Jian M. and J.Y.S. Luh (1991). Position and force controls for two coordinating robots. In: Proc. of the 1991 IEEE Int. Conf. on Robotics and Automation. Vol. 1. Sacramento, California. pp. 176–181.

Tarn, T.J., A.K. Bejczy and X. Yun (1986). Coordinated control of two robot arms. In: Proc. of the 1986 IEEE Int. Conf. On Robotics And Automation. Vol. 2. San Francisco, California. pp. 1193–1202.

Tarn, T.J., A.K. Bejczy and X. Yun (1987). Design of dynamics control of two cooperating robot arms: Closed chian formulation. In: Proc. of the 1987 IEEE Int. Conf. On Robotics And Automation. Vol. 1. Raleigh, North Carolina. pp. 7–13.

Tausac, V., E. Tabarah, E. Dombre and B. Benhabib (1994). Analysis and solution of the trajectory planning problem for reconfigurable two-arm robots. In: Preprints Of The Fourth IFAC Symposium On Robot Control. Capri, Italy. pp. 925–931.

Uchiyama, Masaru and Pierre Dauchez (1988). A symmetric hybrid position/force control scheme for the coordination of two robots. In: Proc. of the 1988 IEEE Int. Conf. On Robotics And Automation. Vol. 1. Philadelphia, Pennsylvania. pp. 350–356.

Walker, Ian D., Robert A. Freeman and Steven I. Marcus (1988). Dynamic task distribution for multiple cooperating robot manipulators. In: Proc. of the 1988 IEEE Int. Conf. On Robotics And Automation. Vol. 3. Philadelphia, Pennsylvania. pp. 1288–1290.

Walker, Ian D., Robert A. Freeman and Steven I. Marcus (1989). Internal object loading for multiple cooperating robot manipulators. In: Proc. of the 1989 IEEE Int. Conf. On Robotics And Automation. Vol. 1. Scottsdale, Arizona. pp. 606–611.

Warren, Charles (1990). Multiple robot path coordination using artificial potential fields. In: Proc. of the 1990 IEEE Int. Conf. On Robotics And Automation. Vol. 1. Hyatt Regency Cincinnati, Ohio. pp. 500–505.

Wen, John T. and Kenneth Kreutz (1989). Motion and force control for multiple cooperative manipulators. In: Proc. of the 1989 IEEE Int. Conf. On Robotics And Automation. Vol. 2. Scottsdale, Arizona. pp. 1246–1251.

Wen, John T. and Lee S. Wilfinder (1998). Kinematic manipulability of general constrained rigid multibody systems. In: Proc. of the 1998 IEEE Int. Conf. On Robotics And Automation. pp. 1020–1025.

Yamada, Y., S. Ñagamatsu and Y. Sato (1995). Development of multi-arm robots for automobile assembly. In: Proc. of the 1995 IEEE Int. Conf. On Robotics And Automation. Vol. 3. Nagoya, Aichi, Japan. pp. 2224–2229.

Zefran, Milos, Vijay Kumar and Xiaoping Yun (1994). Optimal trajectories and force distribution for coopearting arms. In: Proc. Of the 1994 IEEE Int. Conf. On Robotics And Automation. Vol. 1. San Diego, California. pp. 874–879.

Zhe, Jiang Yu, Qian Chen and Saburo Tsuji (1991). Active camara guided manipulation. In: Proc. of the 1991 IEEE Int. Conf. on Robotics and Automation. Sacramento, California. pp. 632–638.

Zheng, Yuan F. and J.Y.S. Luh (1988). Optimal load distribution for two industrial robots handling A single object. In: Proc. of the 1988 IEEE Int. Conf. On Robotics And Automation. Vol. 1. Philadelphia, Pennsylvania.pp. 344–349.

Zilouchian, A. (1994). An iterative learning control technique for a dual arm robotic system. In: Proc. of the 1994 IEEE Int. Conf. On Robotics And Automation. Vol. 2. San Diego, California. pp. 1528–1533.

Abstract Views

461
Metrics Loading ...

Metrics powered by PLOS ALM




Creative Commons License

Esta revista se publica bajo una Licencia Creative Commons Attribution-NonCommercial-CompartirIgual 4.0 International (CC BY-NC-SA 4.0)

Universitat Politècnica de València     https://doi.org/10.4995/riai

e-ISSN: 1697-7920     ISSN: 1697-7912