Practical Point-to-Point Multiple-Goal Task Realization in a Robot Arm with a Rotating Table

Autor:	Lounell B. Gueta, Ryosuke Chiba, Tsuyoshi Ueyama, Tamio Arai, Jun Ota
Rok vydání:	2011
Předmět:	Computer science Arm solution Computer Science Applications Task (project management) Human-Computer Interaction Hardware and Architecture Control and Systems Engineering Table (database) Configuration space Motion planning Realization (systems) Robotic arm Dijkstra's algorithm Software Simulation
Zdroj:	Advanced Robotics. 25:717-738
ISSN:	1568-5535 0169-1864
DOI:	10.1163/016918611x563274
Popis:	This study presents a multiple-goal task realization in a system composed of a 6-d.o.f. robot arm and a one-axis rotating table. The problem is complex due to the existence of multiple goals and the kinematic redundancy of the system. We propose a design approach integrating the base placement, task sequencing and motion coordination methods. We show that this approach reduces the task completion time of the robot arm; the motion planning is realized through straight-line paths in the configuration space despite collision occurrences. Furthermore, we introduce a hybrid graph-search method combining the greedy nearest-neighbor method and the Dijkstra method to solve the motion coordination of the robot arm and the table. We show the effectiveness of the design approach and the search method through a time-constrained simulation-based optimization.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::f6f3be0e1f08742b9129ceca8567fd29 https://doi.org/10.1163/016918611x563274 Zobrazit plný text záznamu Plný text ve formátu PDF