Details
| Original language | English |
|---|---|
| Pages (from-to) | 25-29 |
| Number of pages | 5 |
| Journal | CIRP annals |
| Volume | 74 |
| Issue number | 1 |
| Early online date | 28 Apr 2025 |
| Publication status | Published - 2025 |
Abstract
This study introduces a scalable control framework for Cooperative Multi-Robot Systems (cMRS), enhancing flexibility in manufacturing by adapting single-robot motion sequences to multi-robot setups. The framework addresses kinematic overdetermination via a Virtual Robot Model (VRM), which centralizes motion specification without straining computational resources, allowing seamless scaling. Experimental results demonstrate that cMRS configurations with varying robot numbers can achieve object transport and handling with accuracy comparable to single-robot systems under admittance control. Although larger configurations show increased maximum tracking errors, average accuracy remains stable, demonstrating the framework's effectiveness for scalable cooperative robotics.
Keywords
- cooperative handling, flexible manufacturing system (fms), Robot
ASJC Scopus subject areas
- Engineering(all)
- Mechanical Engineering
- Engineering(all)
- Industrial and Manufacturing Engineering
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In: CIRP annals, Vol. 74, No. 1, 2025, p. 25-29.
Research output: Contribution to journal › Article › Research › peer review
}
TY - JOUR
T1 - Design and control of flexible handling systems based on mobile cooperative multi-robot-systems
AU - Recker, Tobias
AU - Raatz, Annika
N1 - Publisher Copyright: © 2025 The Author(s)
PY - 2025
Y1 - 2025
N2 - This study introduces a scalable control framework for Cooperative Multi-Robot Systems (cMRS), enhancing flexibility in manufacturing by adapting single-robot motion sequences to multi-robot setups. The framework addresses kinematic overdetermination via a Virtual Robot Model (VRM), which centralizes motion specification without straining computational resources, allowing seamless scaling. Experimental results demonstrate that cMRS configurations with varying robot numbers can achieve object transport and handling with accuracy comparable to single-robot systems under admittance control. Although larger configurations show increased maximum tracking errors, average accuracy remains stable, demonstrating the framework's effectiveness for scalable cooperative robotics.
AB - This study introduces a scalable control framework for Cooperative Multi-Robot Systems (cMRS), enhancing flexibility in manufacturing by adapting single-robot motion sequences to multi-robot setups. The framework addresses kinematic overdetermination via a Virtual Robot Model (VRM), which centralizes motion specification without straining computational resources, allowing seamless scaling. Experimental results demonstrate that cMRS configurations with varying robot numbers can achieve object transport and handling with accuracy comparable to single-robot systems under admittance control. Although larger configurations show increased maximum tracking errors, average accuracy remains stable, demonstrating the framework's effectiveness for scalable cooperative robotics.
KW - cooperative handling
KW - flexible manufacturing system (fms)
KW - Robot
UR - http://www.scopus.com/inward/record.url?scp=105003730449&partnerID=8YFLogxK
U2 - 10.1016/j.cirp.2025.04.059
DO - 10.1016/j.cirp.2025.04.059
M3 - Article
AN - SCOPUS:105003730449
VL - 74
SP - 25
EP - 29
JO - CIRP annals
JF - CIRP annals
SN - 0007-8506
IS - 1
ER -