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Collision avoidance for robots in an experimental flexible assembly cell

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1 Author(s)
Gouzenes, L. ; C.N.R.S., Toulouse, France

We discuss problems of collision avoidance in a flexible assembly cell (FAC) : gross motion, fine motion and error recovery, robots with a common work-area. Different strategies are proposed, based on graph-search techniques and use of Petri nets. These methods are integrated on our experimental FAC system and allow safe and high-level programming of robots.

Published in:

Robotics and Automation. Proceedings. 1984 IEEE International Conference on  (Volume:1 )

Date of Conference:

Mar 1984

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