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A model-based error recovery scheme for a multi-robot system

Published online by Cambridge University Press:  05 July 2001

Chan Woo Moon
Affiliation:
School of Electrical Engineering, Seoul National University, San 56-1, Shinrim-dong, Kwanak-ku, Seoul 151–742 (Korea).mcw@robot1.snu.ac.kr
Beom Hee Lee
Affiliation:
School of Electrical Engineering, Seoul National University, San 56-1, Shinrim-dong, Kwanak-ku, Seoul 151–742 (Korea).mcw@robot1.snu.ac.kr

Abstract

A work cell with multiple robots increases manufacturing flexibility and productivity. Robots in the work cell equipped in a sparse area usually share a motion path, resources and workspace. In this paper, an embedded Markov chain model for a multi-robot system that has a common workspace is constructed on the basis of the concept of a multi-processor system. With the presented model, we measure the performance of error recovery schemes under different workloads and analyze the sensitivity of the execution time with respect to the robot speed. We verify the presented model with an experimental multi-robot work cell. This study is useful in evaluating the performance of a robotic work cell and presents a guide for designing a complex work cell.

Type
Research Article
Copyright
© 2001 Cambridge University Press

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