Asynchronous-teams based collision avoidance in PAWS
journal contributionposted on 01.01.1995, 00:00 authored by Ju-Hsien Kao, James Simpson. Hemmerle, F. B. Prinz, Carnegie Mellon University.Engineering Design Research Center.
Abstract: "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 PUMA 762, is investigated."