Collaborative control theory for robotic systems with reconfigurable end effectors

S. Berman, S. Y. Nof

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review


Alleviate cost of robotic system peripherals is a major concern in modern robotic workstations. Addition of flexibility to system peripherals is one sought direction. High end effector flexibility comes with a high robustness cost making such a solution impractical in many situations. Reconfigurable end effectors offer an intermediate solution between flexible and dedicated end effectors. Such end effectors have an adjustable structure facilitating adaptation to production needs of a family of parts. Design and operation of robotic workstation with reconfigurable end effectors is complicated as it requires balancing multiple, conflicting considerations. In addition, for utilizing their advantages they require a high level of collaboration with their work environment. Collaborative control theory (CCT) is a detailed framework for establishing, controlling and evaluating multi-agent collaboration. Collaboration requirements planning (CRP) is an important facet of CCT, guiding both off-line and on-line collaboration planning and control. Conflict resolution is another important facet of CCT. In the current research we adapt the methodology for collaboration requirements planning with conflict resolution for design and control of robotic systems with reconfigurable end effectors. We additionally develop a methodology for establishing the optimal degree of reconfigurability (DOR) of a system based on a method for design for parallelism. The framework is presented along with two preliminary case studies: multirobot assembly and harvesting.

Original languageAmerican English
Title of host publication21st International Conference on Production Research
Subtitle of host publicationInnovation in Product and Production, ICPR 2011 - Conference Proceedings
EditorsTobias Krause, Dieter Spath, Rolf Ilg
ISBN (Electronic)9783839602935
StatePublished - 1 Jan 2011
Event21st International Conference on Production Research: Innovation in Product and Production, ICPR 2011 - Stuttgart, Germany
Duration: 31 Jul 20114 Aug 2011


Conference21st International Conference on Production Research: Innovation in Product and Production, ICPR 2011


  • Collaboration requirements planning
  • Collaborative control theory
  • End effectors
  • Reconfigurable manufacturing systems
  • Robotics

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Computer Science Applications
  • Industrial and Manufacturing Engineering


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