Sensor‐referenced multiple robot cooperation for material handling

Ning Xi (Assistant Professor at Michigan State University, Department of Electrical Engineering, 2120 Engineering Building, East Lansing, Michigan 48824‐1226, USA. Tel: 517 432 1925; Fax: 517 353 1980; E‐mail:
Tzyh‐Jong Tarn (Professor at Washington University, Campus Box 1040, St Louis, Missouri 63130, USA. Tel: 314 935 6037; Fax: 314 935 6121; E‐mail:

Industrial Robot

ISSN: 0143-991x

Publication date: 1 April 1998


In this paper, a new cooperation control scheme for multiple robot material handling is presented. First, the event‐based planning and control method is introduced, which lays down the foundation for sensor‐referenced cooperation of multiple robot systems. The key step is the development of event‐based action reference. Based on the real‐time sensory information, the event‐based action reference drives the system to achieve the best possible coordination. The event‐based cooperation control scheme can easily be implemented in a distributed computer system. A real‐time control and computing architecture is proposed to implement this scheme in a parallel computation. The new multiple robot cooperation scheme has been experimentally implemented and tested on two 6‐DOF PUMA 560 robots. The experimental results have demonstrated the advantages of the scheme.



Xi, N. and Tarn, T. (1998), "Sensor‐referenced multiple robot cooperation for material handling", Industrial Robot, Vol. 25 No. 2, pp. 129-133.

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Copyright © 1998, MCB UP Limited

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