| Author | Somrak Petchartee |
| Call Number | AIT Thesis no. CS-99-15 |
| Subject(s) | Robots--Kinematics
|
| Note | A thesis submitted in partial fulfillment of the requirements for the degree of Master of
Engineering, School of Engineering and Technology |
| Publisher | Asian Institute of Technology |
| Abstract | This study addresses the application of robot to cooperate together. The use of two or
more robots in a common workspace is essential to enhance the utilization of robots, increase
productivity, and improve the versatility of potential applications. If two or more robots are used in
a common workspace, they became obstacles together. Therefore, motion planning must include
detection and avoidance of collisions between them.
The focus of this thesis is on collision-free motion of three robot arms in common
workspace. A collision-free motion is obtained by detecting collisions along the straight-line
trajectories of the robots and then replanning the paths and I or trajectories of one or both of
the robots to avoid the collision. In this thesis, a novel approach to collision detection is
presented and the techniques to avoid collisions are briefly discussed. Collisions are restricted
to be among three robots, which correspond to the upper links of CRS-A255 manipulators. |
| Year | 1999 |
| Type | Thesis |
| School | School of Engineering and Technology (SET) |
| Department | Department of Information and Communications Technologies (DICT) |
| Academic Program/FoS | Computer Science (CS) |
| Chairperson(s) | Yulu, Qi |
| Examination Committee(s) | Manukid Parnichkun;Batanov, Dentcho N. |
| Scholarship Donor(s) | Royal Thai Government |
| Degree | Thesis (M.Eng.) - Asian Institute of Technology, 1999 |