多机近距协同工作的合理相对位置

RATIONAL ARRANGEMENT BETWEEN COORDINATED ROBOTS

在多个机器人近距离协同工作条件下,如何合理地选择机器人之间的相对位置以获得尽可能大的自由空问是一个很有实际意义的问题。本文分析了机器人之间的距离对公共活动范围的体积以及干涉区的数目的影响,提出了旨在尽量减少干涉杆件的数目并同时获得较大的自由空间的菲拥挤条件;详细剖析了若干双机系统的干涉曲面和干涉区,提出了旨在尽量消除干涉区的合理相对方位。这些合理位置的采用将为近距协同工作的多机系统创造一个自由空间较宽敞的,较易控制的良好环境.

It is important to chose reasonably the positions of the robots in a coordinated multi-robot system for a broad free common space.This paper discovered that the distances between robots have effects on the volume of the common workspace and the number of the interference zones,and proposed the non-crowded condition which reduces as many as posible the number of the limbs having danger of colliding.Several interference surfaces and zones of tow-robot systems are analysed in detail and a set of directions are proposed for elimination of the interference zones.These rational positions(distances and directions) between robots would create a spacious common space in a multi-robot system where robots work closely.The problem of control is then less arduous.