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A comparative model-based analysis and design for multi-robot systems

Published online by Cambridge University Press:  09 March 2009

Ki Dong Lee ,
Bum Hee Lee  and
Myoung Sam Ko
Ki Dong Lee
Affiliation:
Department of Control and Instrumentation Engineering, Seoul National University, San 56–1, Shinrim-dong Kwanakku, Seoul 151–742 (Korea)
Bum Hee Lee
Affiliation:
Department of Control and Instrumentation Engineering, Seoul National University, San 56–1, Shinrim-dong Kwanakku, Seoul 151–742 (Korea)
Myoung Sam Ko
Affiliation:
Department of Control and Instrumentation Engineering, Seoul National University, San 56–1, Shinrim-dong Kwanakku, Seoul 151–742 (Korea)
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Summary

For a robotic workcell with multiple robots, several interconnection methods are presented in terms of a processor-based architecture. The concept of the multiple processor system (MPS) or multiple computer system (MCS) is used to formulate and analyze the multi-robot interconnection system (MRIS). The MRIS is modelled as a queueing network, and mathematical analysis is done on the basis of modelling. Performance evaluation is achieved for the MRIS through the mean value analysis with the response time and the probability of service failure under different workloads. The results together with some comments suggest a useful guideline for a selecting an appropriate interconnection method for the MRIS subject to the system environment and application.

Keywords

Mathematical analysisPerformanceIndustrial robotsQueueing network
Type
Articles
Information
Robotica , Volume 13 , Issue 1 , January 1995 , pp. 65 - 76
Copyright
Copyright © Cambridge University Press 1995

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