İşbirlikçi Çoklu Robotların Algoritmik Çalışma Alanı Programlaması

Bu çalışmada, Kontrol Edilebilir Anlık Vida Eksenleri (C-ISA) 1 ve C-ISA 2 şekil değişken açıları, çoklu işbirlikçi robot kontrolü için çeşitli kural tabanlı çalışma alanları ve yörüngeleri gerçekleştirmek için bağımsız olarak değiştirilir. Daha önce geliştirilen araç kutusu, buradaki 2-RR işbirlikçi çoklu robotlar için çalışma alanlarının algoritmasını elde etmek için kullanılmaktadır. Oluşturulan yörüngelerle kesişen çalışma alanlarını tasarlamak için altı işbirlikçi çoklu robottan yararlanılır. Çalışma alanlarının sınıflandırmaları, 2-RR'nin (Revolute Revolute) altı çoklu robotu için işbirliklerinin sınırlarını ortaya koyuyor. Son gelişmeler, zorlu teknolojinin yeni gereksinimlerini karşılamak için çoklu robotların otomasyon sistemlerine yerleştirildiğini gösteriyor. Bu nedenle burada geliştirilen çalışma alanı algoritmaları bu otomasyon sistemlerinde kullanılmak üzere hazırlanmıştır.

Anahtar Kelimeler:

Çalışma alanı, İşbirlikçi robotlar, Modüler mekanizma

Algorithmic Workspace Programming of the Collaborative Multi-Robots

In the present study, the Controllable Instantaneous Screw Axes (C-ISA) 1 and C-ISA 2 shape variable angles are modified independently to realize various rule-based work spaces and trajectories for multi collaborative robot control. The toolbox developed previously is used to obtain the algorithm of the workspaces for 2-RR collaborative multi-robots herein. Six collaborative multi-robots are exploited to design the intersecting workspaces with generated trajectories. The classifications of the workspaces are unveiling the boundaries of the collaborations for the six multi-robots of the 2-RR (Revolute Revolute). The recent developments are showing that the multi-robots are embedding into the automation systems to achieve the novel requirements of the challenging technology. Therefore, the workspace algorithms developed herein are prepared to be utilized by these automation systems.

Keywords:

Workspace, Collaborative robots, Modular mechanism,

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