Efficient Task and Path Planning for Maintenance Automation Using a Robot System

Friedrich, Christian; Csiszar, Akos; Lechler, Armin; Verl, Alexander

doi:10.1109/tase.2017.2759814

Cited by 12 publications

(4 citation statements)

References 33 publications

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“…Algoritma perencanaan jalur yang dapat memberikan solusi optimal sangat penting dalam banyak aplikasi robotik [4]. Proses otomasi pada industri [5], navigasi robot [6], mobil otonom tanpa pengemudi [7], proses bedah robotik [8] adalah beberapa contoh aplikasi robotik yang memerlukan algoritma perencanaan jalur yang optimal.…”

Section: Pendahuluanunclassified

Asymptoticcaly-Optimal Path Planning Using the Improved Probabilistic Road Map Algorithm

Pohan

2023

Jurnal Ilmiah Telekomunikasi, Kendali dan Elektronika Terapan

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Suatu algoritma perencanaan jalur bersifat asimptotik optimal jika dapat menjamin bahwa akan menghasilkan solusi optimal jika diberikan waktu yang memadai. Algoritma perencanaan jalur yang dapat memberikan solusi optimal sangat penting dalam banyak aplikasi robotik. Penelitian ini bertujuan untuk mengusulkan algoritma perencanaan jalur baru yang bersifat asimptotik optimal. Metode yang digunakan adalah dengan meningkatkan algoritma probabilistic road map (PRM) melalui tiga strategi. Strategi pertama adalah menggunakan teknik pembangkitan sampel berbasis informasi. Strategi kedua adalah area pencarian dimulai dari subset ellipsoid yang berukuran kecil dahulu. Strategi ketiga adalah melakukan perbaikan jalur menggunakan proses wrapping. Algoritma yang diusulkan ini dinamakan algoritma wrapping-based informed PRM (WIPRM). Selanjutnya, performansi algoritma WIPRM dibandingkan dengan algoritma PRM, informed rapidly-exploring random tree* (RRT*), dan informed PRM. Hasil pengujian menunjukkan bahwa algoritma WIPRM dapat membangun jalur yang optimal untuk semua scenario pengujian. Waktu komputasi yang dibutuhkan algoritma WIPRM untuk membangun jalur optimal lebih baik daripada algoritma informed RRT* dan informed PRM. Dengan demikian, algoritma WIPRM berpotensi untuk diimplementasikan dalam berbagai sistem robotik yang membutuhkan algoritma perencanaan jalur yang optimal seperti mobil otonom, unmanned aerial vehicles (UAV), maupun autonomous underwater vehicles (AUV).

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Section: Pendahuluanunclassified

Asymptoticcaly-Optimal Path Planning Using the Improved Probabilistic Road Map Algorithm

Pohan

2023

Jurnal Ilmiah Telekomunikasi, Kendali dan Elektronika Terapan

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“…of a product from its CAD model [9][10][11]. To support automatic disassembly planning, researchers have developed a number of optimisation algorithms for finding detachable components, searching for feasible disassembly sequences and generating optimal robotic motions [12][13][14][15]. Visual detection and intelligent reasoning have also been used to build a cognitive robotic system to achieve the full automation of a series of disassembly tasks [16].…”

Section: Introductionmentioning

confidence: 99%

Robotic disassembly re-planning using a two-pointer detection strategy and a super-fast bees algorithm

Laili

Tao

Pham

et al. 2019

Robotics and Computer-Integrated Manufacturing

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“…As robot-based automation efforts continue in many industries such as industrial manufacturing, health care, and home services, the use of robots has increased tremendously [1][2][3][4]. As a result, the demand for motors used in robots has also increased.…”

Section: Introductionmentioning

confidence: 99%

Influence of a novel flux‐absorbing structure on the performance of a surface‐mounted permanent‐magnet motor with overhang

Kwon

Yeo

Jung

2019

IET Electric Power Applications

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The demand for surface-mounted permanent-magnet (SPM) motors with high torque and power densities has increased as these motors are becoming more widely used in applications requiring high performance in limited spaces, such as electric vehicles and robot arms. Some studies have increased the torque and power densities, such as hybrid flux permanentmagnet motors utilising radial and axial magnetic fluxes, dual-rotor and dual-stator permanent-magnet motors. Although these motors offer high performance, there are some problems such as low productivity and poor applicability to small motors have arisen due to their complicated structures. An overhang structure can be a simple and effective means of solving the aforementioned problems. However, the overhang effects do not increase linearly but tend to converge as the length of the overhang increases. Therefore, a novel flux-absorbing structure (FAS) that effectively enhances the overhang effects of SPM motors even in cases with considerable overhang was proposed. The magnetic flux path from the overhang to the stator can be efficiently improved via the proposed FAS. Thereby, the performances of a SPM motor can be effectively enhanced when the FAS is adopted. The effectiveness of the proposed FAS was verified via a 3D finite-element analysis and in experiments.

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Efficient Task and Path Planning for Maintenance Automation Using a Robot System

Cited by 12 publications

References 33 publications

Asymptoticcaly-Optimal Path Planning Using the Improved Probabilistic Road Map Algorithm

Asymptoticcaly-Optimal Path Planning Using the Improved Probabilistic Road Map Algorithm

Robotic disassembly re-planning using a two-pointer detection strategy and a super-fast bees algorithm

Influence of a novel flux‐absorbing structure on the performance of a surface‐mounted permanent‐magnet motor with overhang

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