Planning and Execution of Collision-free Multi-robot Trajectories in Industrial Applications
Conference: ISR 2016 - 47st International Symposium on Robotics
06/21/2016 - 06/22/2016 at München, Germany
Proceedings: ISR 2016
Pages: 7Language: englishTyp: PDF
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Authors:
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)
Abstract:
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.