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Intelligent programming of force-constrained cooperating robots

: Zhang, Y.; Duelen, G.; Münch, H.

Proceedings of the European Robotics and Intelligent Systems Conference. EURISCON
Dordrecht: Kluwer Academic Publishers Group, 1991
European Robotics and Intelligent Systems Conference <1991, Corfu>
Conference Paper
Fraunhofer IPK ()
cooperating robot; force behaviour; motion behaviour; optimal planning

In this paper, concepts and algorithms for the coordinated optimal motion planning and force distribution for force-constrained cooperating robots are presented. The developed algorithms are characterized by the possibility to take various task specific requirements into consideration and by its adaptability to any kinematic and any assignment in the production cell through corresponding modelling, without change of the solution structure. This implies, on one hand, free programmability, and on the other hand, the integration of all task-related constraints and requirements.