TY - JOUR
T1 - Coordination of robots sharing assembly tasks
AU - Maimon, O. Z.
AU - Nof, S. Y.
PY - 1985/12
Y1 - 1985/12
N2 - A multiple robot assembly cell for batch manufacturing is described and a new concept of an Activity Controller (AC) for such a cell is developed. The problem defined for the Activity Controller is which robot is to perform which operation, how, in terms of spatial routes and accessories, and when, in terms of timing and synchronization, in order to effectively achieve a certain task objective (e.g., minimize makespan time). The Activity Controller functions, structure, and algorithms for optimization and operational control are discussed, and then demonstrated on an actual assembly case.
AB - A multiple robot assembly cell for batch manufacturing is described and a new concept of an Activity Controller (AC) for such a cell is developed. The problem defined for the Activity Controller is which robot is to perform which operation, how, in terms of spatial routes and accessories, and when, in terms of timing and synchronization, in order to effectively achieve a certain task objective (e.g., minimize makespan time). The Activity Controller functions, structure, and algorithms for optimization and operational control are discussed, and then demonstrated on an actual assembly case.
UR - http://www.scopus.com/inward/record.url?scp=0022388507&partnerID=8YFLogxK
U2 - 10.1115/1.3140740
DO - 10.1115/1.3140740
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AN - SCOPUS:0022388507
SN - 0022-0434
VL - 107
SP - 299
EP - 307
JO - Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME
JF - Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME
IS - 4
ER -
