Planning and Execution of Collision-free Multi-robot Trajectories in Industrial Applications

Konferenz: ISR 2016 - 47st International Symposium on Robotics
21.06.2016 - 22.06.2016 in München, Germany

Tagungsband: ISR 2016

Seiten: 7Sprache: EnglischTyp: PDF

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Angerer, Andreas; Hoffmann, Alwin; Kim, Jonghwa; Reif, Wolfgang (Department of Computer Science, University of Augsburg, Germany)
Larsen, Lars; Vistein, Michael; Kupke, Michael (Department of Computer Science, University of Augsburg, Germany & German Aerospace Center (DLR), Center for Lightweight Production Technology, Augsburg, Germany)

Production of carbon fiber reinforced plastics is nowadays mainly done by hand, as process automation is very difficult. This paper presents first steps towards robot-based automation of such complex processes: a simulation environment performing collision free motion planning for cooperating robots is combined with an object-oriented, real-time capable control framework for industrial robots. First qualitative results from an industrial setting are presented.