Asynchronous-teams based collision avoidance in PAWS

This paper describes the Asynchronous Teams (A-Teams) based collision avoidance algorithm in the Programmable Automated Welding System's Off-line Programming (PAWS-OLP) system. A-Teams organize different software or operators in an asynchronous way so that a variety of simple or sophisticated agents can cooperate to produce better results in a global sense. Joint limits, minimal joint motion, smooth joint motion, and task quality are also considered in this collision avoidance algorithm. An example, using a six degree of freedom robot PUMA762, is investigated.

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