Path planning with general end-effector constraints

Yao, Zhenwang; Gupta, Kalyan Kali Sen

doi:10.1016/j.robot.2006.11.004

Cited by 76 publications

(43 citation statements)

References 20 publications

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“…Yao and Gupta [4] describe an approach that samples robot configurations directly in T-space before conversion to a C-space roadmap that is traversed using a constrained local planner. Shkolnik and Tedrake [5] take an approach that samples T-space into an RRT structure.…”

Section: A Task-space Motion Planningmentioning

confidence: 99%

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Automatic program generation for welding robots from CAD

Larkin

Short

Pan

et al. 2016

2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)

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Industrial robotic automation is a key tool for manufacturing companies to achieve flexibility and low production costs. However, the cost associated with re-programming limits the economic viability for low production volumes. Automated Offline Programming is an approach that uses software algorithms to generate robot programs with little or no human effort. This contrasts with typical programming methods that require considerable human effort from highly skilled operators. This paper presents an Automated Offline Programming solution developed for a steel fabrication company and details the motion planning algorithms. It also describes a novel technique to decompose the welding path motion planning problem into sequential sub-problems such that greedy search techniques can be employed. The results show that this programming approach is effective for robot welding applications and reduces programming effort to effectively no cost. Abstract-Industrial robotic automation is a key tool for manufacturing companies to achieve flexibility and low production costs. However, the cost associated with re-programming limits the economic viability for low production volumes. Automated Offline Programming is an approach that uses software algorithms to generate robot programs with little or no human effort. This contrasts with typical programming methods that require considerable human effort from highly skilled operators. This paper presents an Automated Offline Programming solution developed for a steel fabrication company and details the motion planning algorithms. It also describes a novel technique to decompose the welding path motion planning problem into sequential sub-problems such that greedy search techniques can be employed. The results show that this programing approach is effective for robot welding applications and reduces programming effort to effectively no cost.

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Section: A Task-space Motion Planningmentioning

confidence: 99%

“…Yao and Gupta [4] adapted Randomized Gradient Descent inside a Probabilistic Roadmap framework to satisfy task constraints. The CBiRRT2 algorithm, developed by Berenson [6], alternates between constrained C-space exploration and direct T-space sampling.…”

Section: A Task-space Motion Planningmentioning

confidence: 99%

Automatic program generation for welding robots from CAD

Larkin

Short

Pan

et al. 2016

2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)

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“…A more promising approach is to adapt the successful sampling-based path planning algorithms. In this line of work, most of the existing algorithms generate samples on the manifold configuration space from samples in the parametrizable joint ambient space using inverse kinematic functions [40], or iterative techniques [41][42][43]. Although being probabilistically complete [42], these methods cannot guarantee a regular distribution of samples on the manifold, which may hinder its efficient exploration.…”

Section: Related Workmentioning

confidence: 99%

Efficient asymptotically-optimal path planning on manifolds

Jaillet

Porta

2013

Robotics and Autonomous Systems

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This paper presents an efficient approach for asymptotically-optimal path planning on implicitly-defined configuration spaces. Recently, several asymptotically-optimal path planners have been introduced, but they typically exhibit slow convergence rates. Moreover, these planners can not operate on the configuration spaces that appear in the presence of kinematic or contact constraints, such as when manipulating an object with two arms or with a multifingered hand. In these cases, the configuration space usually becomes an implicit manifold embedded in a higher-dimensional joint ambient space. Existing sampling-based path planners on manifolds focus on finding a feasible solution, but they do not optimize the quality of the path in any sense and, thus, the returned solution is usually not adequate for direct execution. In this paper, we adapt several techniques to accelerate the convergence of the asymptotically-optimal planners and we use higher-dimensional continuation tools to deal with the case of implicitly-defined configuration spaces. The performance of the proposed approach is evaluated through various experiments.

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“…Our proposed planning approach is based on the ATACE (Alternate Task space and Configuration Space Exploration) framework, first presented in [16] for motion planning of robot manipulators with end effector constraints, and then adapted for path planning for visual servoing in [11] by us. It first plans the camera trajectory Γ(t) for t ∈ [0, t f ] which corresponds to a feasible robot trajectory q(t) for t ∈ [0, t f ] in the WMM C-space between the start and goal configurations, q(0) = q i and q(t f ) = q d , respectively.…”

Section: Randomized Kinodynamic Planning With Visibility Constramentioning

confidence: 99%

Path planning for image-based control of wheeled mobile manipulators

Kazemi

Gupta

Mehrandezh

2012

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-We address the problem of incorporating path planning with image-based control of a wheeled mobile manipulator (WMM) performing visually-guided tasks in complex environments. The WMM consists of a wheeled (non-holonomic) mobile platform and an on-board robotic arm equipped with a camera mounted at its end-effector. The visually-guided task is to move the WMM from an initial to a desired location while respecting image and physical constraints. We propose a kinodynamic planning approach that explores the camera state space for permissible trajectories by iteratively extending a search tree in this space and simultaneously tracking these trajectories in the WMM configuration space. We utilize weighted pseudo-inverse Jacobian solutions combined with a null space optimization technique to effectively coordinate the motion of the mobile platform and the arm. We also present the preliminary results obtained by executing the planned trajectories on a real WMM system via a decoupled control scheme where the on-board arm is servo controlled along the planned feature trajectories while the mobile platform is simultaneously controlled along its trajectory using a state feedback tracking method.

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Path planning with general end-effector constraints

Cited by 76 publications

References 20 publications

Automatic program generation for welding robots from CAD

Automatic program generation for welding robots from CAD

Efficient asymptotically-optimal path planning on manifolds

Path planning for image-based control of wheeled mobile manipulators

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