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

Angerer, Andreas and Hoffmann, Alwin and Larsen, Lars-Christian and Vistein, Michael and Kim, Jonghwa and Reif, Wolfgang (2016) Planning and Execution of Collision-free Multi-Robot Trajectories in Industrial Applications. In: International Symposium on Robotics (ISR). 47. International Symposium on Robotics (ISR) 2016, 21.-22. Jun. 2016, München.

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Abstract

The use of carbon fiber reinforced plastics (CFRP) has been increasing much recently, in particular in the aircraft industry. The production of CFRP today is mainly done by hand, the automation of the production process using robots is still difficult due to large and numerous pieces of raw material which must be handled carefully. This paper demonstrates an approach that applies a collision free motion planner to use multiple robots for flexible production of CFRP parts. The required cooperative motions and tool actions are completely planned and simulated offline. Then, they are executed with an innovative robot programming framework that allows for real-time control of industrial robots with modern objectoriented applications.

Item URL in elib:https://elib.dlr.de/104299/
Document Type:Conference or Workshop Item (Speech)
Title:Planning and Execution of Collision-free Multi-Robot Trajectories in Industrial Applications
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Angerer, AndreasUniversität AugsburgUNSPECIFIED
Hoffmann, AlwinUniversität AugsburgUNSPECIFIED
Larsen, Lars-Christianlars-christian.larsen (at) dlr.dehttps://orcid.org/0000-0002-4450-8581
Vistein, MichaelMichael.Vistein (at) dlr.dehttps://orcid.org/0000-0001-6998-0017
Kim, JonghwaUniversität AugsburgUNSPECIFIED
Reif, WolfgangUniversität AugsburgUNSPECIFIED
Date:21 June 2016
Journal or Publication Title:International Symposium on Robotics (ISR)
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:cooperating robots, path planning, path execution, collision free
Event Title:47. International Symposium on Robotics (ISR) 2016
Event Location:München
Event Type:international Conference
Event Dates:21.-22. Jun. 2016
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Aeronautics
HGF - Program Themes:fixed-wing aircraft
DLR - Research area:Aeronautics
DLR - Program:L AR - Aircraft Research
DLR - Research theme (Project):L - Simulation and Validation
Location: Augsburg
Institutes and Institutions:Institute of Structures and Design > Automation and Quality Assurance in Production
Deposited By: Larsen, Lars-Christian
Deposited On:30 Nov 2016 12:01
Last Modified:30 Nov 2016 12:01

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