Towards Distributed Trajectory Interpolation and Motion Control

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openAccess
Journal Title
Journal ISSN
Volume Title
Conference article in proceedings
Date
2021
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Mcode
Degree programme
Language
en
Pages
4
Series
Proceedings - 2021 26th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2021
Abstract
This article presents an approach for implementing distributed multi-agent control of a multi-axis manipulator using decentralised trajectory interpolation. The approach is prototyped using communication architecture of the Robot Operating System (ROS) framework. Also, using the proposed approach, the simulation was performed in the Copella Simulator. The solution aims at enabling multi-axis machines with intelligent axes having embedded controllers, capable of following trajectories without central control system.
Description
Funding Information: This work was supported, in part, by the H2020 project 1-SWARM co-funded by the European Commission (grant agreement: 871743). Publisher Copyright: © 2021 IEEE.
Keywords
Decentralised trajectory interpolation, Distributed multi-agent motion control, ROS
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Citation
Lashchev , A , Veselov , G & Vyatkin , V 2021 , Towards Distributed Trajectory Interpolation and Motion Control : Prototyping with ROS . in Proceedings - 2021 26th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2021 . IEEE , IEEE International Conference on Emerging Technologies and Factory Automation , Västerås , Sweden , 07/09/2021 . https://doi.org/10.1109/ETFA45728.2021.9613176