Efficient Feasibility Checking on Continuous Coverage Motion for Constrained Manipulation
Efficient Feasibility Checking on Continuous Coverage Motion for Constrained Manipulation
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DOI：
10.1109/case49439.2021.9551685
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发表时间：
2021-08
期刊：
影响因子：
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通讯作者：
Sean McGovern;Jing Xiao
中科院分区：
文献类型：
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作者：
Sean McGovern;Jing Xiao
许多工业机器人应用需要操纵器以约束运动移动末端执行器以覆盖表面区域，包括涂漆、喷涂、喷砂、抛光、喷射混凝土。操纵器必须满足施加在末端执行器上的任务约束（例如在穿越目标表面时相对于目标表面保持一定的距离和角度）和操纵器关节约束。给定一个机器人操作器和一个目标曲面片，一个重要的问题是是否存在一条可行的路径，使操作器能够沿着曲面片连续运动，完全覆盖曲面片，同时满足操作器和任务的约束。这个问题在很大程度上是开放的，因为它还没有得到系统的解决，即使有大量的文献约束操作运动的路径规划。在本文中，我们介绍了一个通用的和有效的方法来回答这个问题。
Many industrial robotic applications require a manipulator to move the end-effector in a constrained motion to cover a surface region, including painting, spray coating, abrasive blasting, polishing, shotcreting. etc. The manipulator has to satisfy both task constraints imposed on the end-effector (such as maintaining certain distance and angle with respect to the target surface while traversing it) and manipulator joint constraints. Given a robot manipulator and a target surface patch, an important question is whether there exists a feasible path for the manipulator to move continuously along the surface patch to cover it entirely while satisfying both manipulator and task constraints. This question is largely open as it has not been addressed systematically, even though there is substantial literature on path planning of constrained manipulation motion. In this paper, we introduce a general and efficient method to provide answers to this question.