A model‐based approach to cooperative operation of multirobot systems

Abstract

Purpose

This paper aims to report a novel practical algorithm for manipulation planning of multiple articulated robots.

Design/methodology/approach

This paper proposes a model‐based approach to distributing trajectory segments to individual robots in a multirobot system, given a task in terms of trajectories. This approach consists of three modules: task trajectory generation, cooperative robots selection, and joint trajectory generation.

Findings

The proposed algorithm has been implemented into a simulation system with four‐planar robots and a multirobot‐packing system, which has shown the effectiveness of the presented method. It improves the flexibility of robot cooperation and handles dynamically cooperative trajectories by using a modularized mapping from Cartesian space to joint space of robots.

Research limitations/implications

The reported research has been developed for task‐oriented applications with prior knowledge. Future work will focus on acquiring prior knowledge using vision systems.

Practical implications

The key contribution of this paper is that it offers a practical real‐time solution to task‐oriented applications. For instance, the proposed method could close the gaps and significantly improve work efficiency in carton packing involved in industrial chains.

Originality/value

The reported work allows a multirobot system realtime, dynamically distributing trajectory segments to individual robots for task‐oriented applications. Industrial practitioners would benefit from employing it in their existing systems, e.g. the car assembly industry.

Citation

Liu, H., Dai, J.S. and Seneviratne, L.D. (2008), "A model‐based approach to cooperative operation of multirobot systems", Industrial Robot, Vol. 35 No. 1, pp. 37-45. https://doi.org/10.1108/01439910810843270