Robotics
Multi-Robot Coordinated Motion
Demanding industrial applications from cold spraying to additive manufacturing are increasingly deploying multiple robots in a coordinated fashion. For cold spray coating, leading industry deployment involves a dual-robot system, where one robot holds the part and the second robot holds the spray gun to impinge metal powders onto the part. For wire-arc additive manufacturing (WAAM), the welding robot, the positioner, and the metrology inspection robots all need to be coordinated to ensure high-quality end products. This talk will discuss issues and the latest advances that arise in such coordinated operation of multiple industrial robots, including:
- Overall control architecture integrating sensors and robots from different vendors.
- Kinematics calibration of multiple robots.
- Redundancy resolution.
- Tracking accuracy through motion adaptation and learning
John Wen, Professor and Head, Electrical, Computer, & Systems Engineering, Rensselaer Polytechnic Institute
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