PLC Based Coordination Schemes for a Multi-robot System
نویسندگان
چکیده
A robotic work cell with multiple robots can accomplish complex task that single robot cannot manage. Robots in the work cell cooperate with each other, or compete for shared motion path, resources and workspace. So coordinating multiple robots is essential for designing a robotic work cell. In this paper, we present a logic model of a robotic work cell to build controllers that meet required behavior, and construct a performance model to measure the performance of controllers. We verify the presented model with an experimental multi-robot work cell.
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