Manipulator motion planning using flexible obstacle avoidance based on model learning

Wei, Zhixuan; Chen, Weidong; Wang, Hesheng; Wang, Jingchuan

doi:10.1177/1729881417703930

Cited by 12 publications

(6 citation statements)

References 17 publications

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“…If the cluttered environment is populated with dynamic objects, grasping a desired object could be possible only if a sequence of actions is generated and executed in order to push the obstacles in the scene. A learning-based motion modelling method [57] is proposed for motion prediction of the obstacles being pushed by the manipulator, and then the trained models are utilised in the motion planning. An alternative solution aiming to get a clear work space and, after, plan a collision-free path is presented in [58], which is less efficient than the previous one.…”

Section: Grasping In Constrained Environmentsmentioning

confidence: 99%

Robot-Assisted Glovebox Teleoperation for Nuclear Industry

et al. 2021

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The nuclear industry has some of the most extreme environments in the world, with radiation levels and extremely harsh conditions restraining human access to many facilities. One method for enabling minimal human exposure to hazards under these conditions is through the use of gloveboxes that are sealed volumes with controlled access for performing handling. While gloveboxes allow operators to perform complex handling tasks, they put operators at considerable risk from breaking the confinement and, historically, serious examples including punctured gloves leading to lifetime doses have occurred. To date, robotic systems have had relatively little impact on the industry, even though it is clear that they offer major opportunities for improving productivity and significantly reducing risks to human health. This work presents the challenges of robotic and AI solutions for nuclear gloveboxes, and introduces a step forward for bringing cutting-edge technology to gloveboxes. The problem statement and challenges are highlighted and then an integrated demonstrator is proposed for robotic handling in nuclear gloveboxes for nuclear material handling. The proposed approach spans from tele-manipulation to shared autonomy, computer vision solutions for robotic manipulation to machine learning solutions for condition monitoring.

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Section: Grasping In Constrained Environmentsmentioning

confidence: 99%

Robot-Assisted Glovebox Teleoperation for Nuclear Industry

et al. 2021

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“…There has been research on dual-arm manipulation planning with orientation constraints 37 using the graph heuristic search techniques. Also, some approaches tried to achieve the approximation of the constraint manifolds by off-line computation, 38 model learning, 39 or demonstrations learning 40,41 but only for certain scenarios.…”

Section: Related Workmentioning

confidence: 99%

Inverse kinematics-based motion planning for dual-arm robot with orientation constraints

Liu

Zhang

2019

International Journal of Advanced Robotic Systems

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This article proposes an efficient and probabilistic complete planning algorithm to address motion planning problem involving orientation constraints for decoupled dual-arm robots. The algorithm is to combine sampling-based planning method with analytical inverse kinematic calculation, which randomly samples constraint-satisfying configurations on the constraint manifold using the analytical inverse kinematic solver and incrementally connects them to the motion paths in joint space. As the analytical inverse kinematic solver is applied to calculate constraint-satisfying joint configurations, the proposed algorithm is characterized by its efficiency and accuracy. We have demonstrated the effectiveness of our approach on the Willow Garage’s PR2 simulation platform by generating trajectory across a wide range of orientation-constrained scenarios for dual-arm manipulation.

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“…Dogar and Srinivasa (2011) proposed a planning method for grasping in cluttered environments, with a physics-based analysis of pushing to compute the motion of each object. Wei et al (2017) proposed a flexible obstacle avoidance approach for manipulator motion planning in highly cluttered environments. However, there are also some limitations to the methods.…”

Section: Introductionmentioning

confidence: 99%

A path planning method for compliant jointing of weakly rigid helicopter fuselage

Shi,

Wu,

Deng

et al. 2023

RIA

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Purpose The purpose of this paper is to propose a strategy for the final assembly of helicopter fuselage with weak rigidity parts and mismatched jointing butt ends. Design/methodology/approach The strategy is based on path planning methods. Compared with traditional path planning methods, the configuration-space and collision detection in the method are different. The obstacles in the configuration-space are weakly rigid and allow continuous contact with the robot. The collision detection is based on interference magnitudes, and the result is divided into no collision, weak collision and strong collision. Only strong collision is unacceptable. Then a compliant jointing path planning algorithm based on RRT is designed, combined with some improvements in search efficiency. Findings A series of planning results show that the efficiency of this method is higher than original RRT under the same conditions. The effectiveness of the method is verified by a series of simulations and experiments on two sets of systems. Originality/value There are few reports on the automation technology of helicopter fuselage assembly. This paper analyzes the problem and provides a solution from the perspective of path planning. This method contains a new configuration-space and collision detection method adapted to this problem and could be intuitive for the jointing of other weakly rigid parts.

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Manipulator motion planning using flexible obstacle avoidance based on model learning

Cited by 12 publications

References 17 publications

Robot-Assisted Glovebox Teleoperation for Nuclear Industry

Robot-Assisted Glovebox Teleoperation for Nuclear Industry

Inverse kinematics-based motion planning for dual-arm robot with orientation constraints

A path planning method for compliant jointing of weakly rigid helicopter fuselage

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