Authors:
Josias G. Batista
1
;
José L. N. da Silva
1
and
George A. P. Thé
2
Affiliations:
1
Instituto Federal de Educação Tecnológica do Ceará, av. 13 de Maio 2081, Fortaleza and Brazil
;
2
Department of Teleinformatics Engineering, Federal University of Ceara, Fortaleza and Brazil
Keyword(s):
Path Planning, Machine-machine Interaction, SCARA Manipulator.
Related
Ontology
Subjects/Areas/Topics:
Industrial Automation and Robotics
;
Industrial Engineering
;
Informatics in Control, Automation and Robotics
;
Robotics and Automation
Abstract:
Despite the existence of well-known approaches for collision prevention in the robotics literature, in present days the use of manipulators in fabrication processes still relies on safe-zone delimitations, which ultimately limits automation flexibility. In the present work, we consider going over that paradigm by discussing what if mobile agents of the fabrication process, i.e., robots could share the same space. In doing that study, the very classical approach based on artificial potentials for collision prevention are preferred over modern choices. On the basis of a hypothetical pick-&-place task experiment, results revealed efficient accomplishment in some of the considered scenarios.