Robotic Motion Planning with Quasistatic Force Constraints

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This research project will develop a quasistatic motion planning paradigm that is a significant extension of classical robotic motion planning paradigms. The quasistatic problem arises when significant reaction forces between the robot mechanism and its environment are required to generate and/or stabilize the robot's motion. The planning paradigm is based on the PI's recently developed configuration space mobility theory. To demonstrate the practical utility of this work, algorithms will be developed and implemented for two important quasi-static application examples: a novel workpiece fixturing algorithms that incorporates the curvature of the fixtures into the planning phase; and a proof-of-concept 2-dimensional quasistatic planning system for a highly articulated robot. This planner will be tested on an actual robot prototype in the laboratory.