Adaptive collision-free path-following control for two robots with prismatic joints

Abstract An adaptive control strategy based on a collision-free path-finding (CFPF) algorithm is proposed for two robots with prismatic joints. In systems with two or more robots operating in a common workspace, the arm of each robot is considered a moving obstacle. Taking into account the geometry of potential collision space, a simple CFPF algorithm is developed for two robots with prismatic joints. An adaptive control scheme is used to control each robot to follow the desired path computed by the CFPF algorithm at each sampling-time step. This approach is investigated by computer simulation and the results show that such a method can provide the efficient operation of the two-robot system.

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