Abstract
A flexible manufacturing system is defined as a system that has the ability to respond to expected or unexpected changes in a manufacturing process. Currently, one of the options to implement a flexible manufacturing system, is the use of advanced technologies to provide more flexibility, lower cost and reusability. In this context, the modular robots (based in mechatronic modules) can be an alternative to classic manipulators, because they have a variable kinematic structure and are adaptable to changing production lines, being economic for industrial implementations. In this study, taking into account the flexibility characteristics of modular robots, a systematic approach to path planning applied in different modular robotic configurations is presented. The proposed methodology is described as follows: 1) definition of the concepts of a mechatronic module, 2) application of mechatronic modules in assembling of modular robots; and finally, 3) presentation of a system for the path planning of different modular configurations. The studies show that the concepts related to the trajectory planning are important aspects to be considered in self-configurable and flexible platforms.
| Original language | English |
|---|---|
| Title of host publication | ISMA 2015 - 10th International Symposium on Mechatronics and its Applications |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| ISBN (Electronic) | 9781467377973 |
| DOIs | |
| Publication status | Published - 5 Jan 2016 |
| Event | 10th International Symposium on Mechatronics and its Applications, ISMA 2015 - Sharjah, United Arab Emirates Duration: 8 Dec 2015 → 10 Dec 2015 |
Conference
| Conference | 10th International Symposium on Mechatronics and its Applications, ISMA 2015 |
|---|---|
| Country | United Arab Emirates |
| City | Sharjah |
| Period | 8/12/15 → 10/12/15 |
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A systematic approach to trajectory planning applied to modular robots. / Cukla, A. R.; Peres, R. S.; Barata, J.; Izquierdo, R. C.; Perondi, E. A.; Lorini, F. J.
ISMA 2015 - 10th International Symposium on Mechatronics and its Applications. Institute of Electrical and Electronics Engineers Inc., 2016. 7373495.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
TY - GEN
T1 - A systematic approach to trajectory planning applied to modular robots
AU - Cukla, A. R.
AU - Peres, R. S.
AU - Barata, J.
AU - Izquierdo, R. C.
AU - Perondi, E. A.
AU - Lorini, F. J.
PY - 2016/1/5
Y1 - 2016/1/5
N2 - A flexible manufacturing system is defined as a system that has the ability to respond to expected or unexpected changes in a manufacturing process. Currently, one of the options to implement a flexible manufacturing system, is the use of advanced technologies to provide more flexibility, lower cost and reusability. In this context, the modular robots (based in mechatronic modules) can be an alternative to classic manipulators, because they have a variable kinematic structure and are adaptable to changing production lines, being economic for industrial implementations. In this study, taking into account the flexibility characteristics of modular robots, a systematic approach to path planning applied in different modular robotic configurations is presented. The proposed methodology is described as follows: 1) definition of the concepts of a mechatronic module, 2) application of mechatronic modules in assembling of modular robots; and finally, 3) presentation of a system for the path planning of different modular configurations. The studies show that the concepts related to the trajectory planning are important aspects to be considered in self-configurable and flexible platforms.
AB - A flexible manufacturing system is defined as a system that has the ability to respond to expected or unexpected changes in a manufacturing process. Currently, one of the options to implement a flexible manufacturing system, is the use of advanced technologies to provide more flexibility, lower cost and reusability. In this context, the modular robots (based in mechatronic modules) can be an alternative to classic manipulators, because they have a variable kinematic structure and are adaptable to changing production lines, being economic for industrial implementations. In this study, taking into account the flexibility characteristics of modular robots, a systematic approach to path planning applied in different modular robotic configurations is presented. The proposed methodology is described as follows: 1) definition of the concepts of a mechatronic module, 2) application of mechatronic modules in assembling of modular robots; and finally, 3) presentation of a system for the path planning of different modular configurations. The studies show that the concepts related to the trajectory planning are important aspects to be considered in self-configurable and flexible platforms.
UR - http://www.scopus.com/inward/record.url?scp=84964986216&partnerID=8YFLogxK
U2 - 10.1109/ISMA.2015.7373495
DO - 10.1109/ISMA.2015.7373495
M3 - Conference contribution
BT - ISMA 2015 - 10th International Symposium on Mechatronics and its Applications
PB - Institute of Electrical and Electronics Engineers Inc.
ER -