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Article
Publication date: 1 April 1998

Ning Xi and Tzyh‐Jong Tarn

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…

Abstract

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.

Details

Industrial Robot: An International Journal, vol. 25 no. 2
Type: Research Article
ISSN: 0143-991X

Keywords

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Article
Publication date: 1 March 2006

Mingjun Zhang, Weimin Tao, William Fisher and Tzyh‐Jong Tarn

For semiconductor and gene‐chip microarray fabrication, robots are widely used to handle workpieces. It is critical that robots can calibrate themselves regularly and…

Abstract

Purpose

For semiconductor and gene‐chip microarray fabrication, robots are widely used to handle workpieces. It is critical that robots can calibrate themselves regularly and estimate workpiece pose automatically. This paper proposes an industrial method for automatic robot calibration and workpiece pose estimation.

Design/methodology/approach

The methods have been implemented using an air‐pressure sensor and a laser sensor.

Findings

Experimental results conducted in an industrial manufacturing environment show efficiency of the methods.

Originality/value

The contribution of this paper consists of an industrial solution to automatic robot calibration and workpiece pose estimation for automatic semiconductor and gene‐chip microarray fabrication.

Details

Industrial Robot: An International Journal, vol. 33 no. 2
Type: Research Article
ISSN: 0143-991X

Keywords

Content available
Article
Publication date: 6 March 2009

J. Norberto Pires

Abstract

Details

Industrial Robot: An International Journal, vol. 36 no. 2
Type: Research Article
ISSN: 0143-991X

Content available
Article
Publication date: 1 April 2000

Abstract

Details

Industrial Robot: An International Journal, vol. 27 no. 2
Type: Research Article
ISSN: 0143-991X

Keywords

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Article
Publication date: 21 August 2009

Fei Wang, Chengdong Wu, Xinthe Xu and Yunzhou Zhang

The purpose of this paper is to present a coordinated control strategy for stable walking of biped robot with heterogeneous legs (BRHL), which consists of artificial leg…

Abstract

Purpose

The purpose of this paper is to present a coordinated control strategy for stable walking of biped robot with heterogeneous legs (BRHL), which consists of artificial leg (AL) and intelligent bionic leg (IBL).

Design/methodology/approach

The original concentrated control in common biped robot system is replaced by a master‐slave dual‐leg coordinated control. P‐type open/closed‐loop iterative learning control is used to realize the time‐varying gait tracking for IBL to AL.

Findings

The new control architecture can simplify gait planning scheme of BRHL system with complicated closed‐chain mechanism and mixed driving mode.

Research limitations/implications

Designing and constructing a suitable magneto‐rheological damper can greatly improve the control performance of IBL.

Practical implications

Master‐slave coordination strategy is suitable for BRHL stable walking control.

Originality/value

The concepts and methods of dual‐leg coordination have not been explicitly proposed in single biped robot control research before. Master‐slave coordinated control strategy is suitable for complicated BRHL.

Details

Industrial Robot: An International Journal, vol. 36 no. 5
Type: Research Article
ISSN: 0143-991X

Keywords

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