Optimal robot base placements for coverage tasks

Kalawoun, Rawan; Lengagne, Sébastien; Mezouar, Youcef

doi:10.1109/coase.2018.8560402

Cited by 9 publications

(2 citation statements)

References 17 publications

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“…Energy efficiency can also be enhanced by evaluating the performance of the robot throughout its workspace and by optimizing the location of the task with respect to the base of the manipulator. The positioning of the robot with respect to the required task is indeed essential not only for the correct execution of the operation, such as for example in robotic painting [27][28][29] or pick-and-place operations [15,30,31] but also to minimize the expenditure of energy required by the actuators.…”

Section: Introductionmentioning

confidence: 99%

Enhancing Energy Efficiency of a 4-DOF Parallel Robot Through Task-Related Analysis

et al. 2020

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Enhancing energy efficiency is one of the main challenges of today’s industrial robotics and manufacturing technology. In this paper a task-related analysis of the energetic performance of a 4-DOF industrial parallel robot is presented, and the optimal location of a predefined task with respect to the robot workspace is investigated. An optimal position of the task relative to the robot can indeed reduce the actuators’ effort and the energy consumption required to complete the considered operation. The dynamic and electro-mechanical models of the manipulators are developed and implemented to estimate the energy consumption of a parametrized motion with trapezoidal speed profile, i.e., a pick-and-place operation. Numerical results provide energy consumption maps that can be adopted to place the starting and ending points of the task in the more energy-efficient location within the robot workspace.

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Section: Introductionmentioning

confidence: 99%

Enhancing Energy Efficiency of a 4-DOF Parallel Robot Through Task-Related Analysis

et al. 2020

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“…Static deployment is specially intended for applications in which the perceived environment, and therefore its visibility properties, does not change substantially in time. Covering of 3D static surfaces with a minimal set of observers is performed in [4] for mold design, in [5] for surveillance and inspection tasks, and in [6] for automated manufacturing. Many of these works are based on selecting those points of view that achieve the visibility objectives from a predefined set of candidate view directions or viewpoints, which can be non-optimal.…”

Section: Introductionmentioning

confidence: 99%

Multi-camera coverage of deformable contour shapes

Herguedas

López‐Nicolás

Sagüés

2019

2019 IEEE 15th International Conference on Automation Science and Engineering (CASE)

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Perception of deformation is a key problem when dealing with autonomous manipulation of deformable objects. Particularly, this work is motivated by tasks where the manipulated object follows a prescribed known deformation with the goal of performing a desired coverage of the objects contour along its deformation. The main contribution is a simple yet effective novel perception system in which a team of robots equipped with limited field-of-view cameras covers the object's contour according to a prescribed visibility objective. In order to define a feasible visibility objective, we propose a new method for obtaining the maximum achievable visibility of a contour from a circumference around its centroid. Then, we define a constrained optimization problem and we solve it iteratively to compute the minimum number of cameras and their nearoptimal positions around the object that guarantee the visibility objective, over the entire deformation process.

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