Robotic Motion Planning with Quasistatic Force Constraints

这项研究项目将开发准静态运动规划范例，这是经典机器人运动规划范例的重要扩展。当机器人机构与其环境之间需要很大的反作用力来产生和/或稳定机器人的运动时，准静态问题就出现了。规划范式是基于PI最近发展起来的配置空间流动性理论。为了证明这项工作的实用价值，将开发和实现两个重要的准静态应用实例的算法：将夹具的曲率合并到规划阶段的新的工件夹具算法；以及用于高关节机器人的概念验证二维准静态规划系统。该规划器将在实验室的实际机器人样机上进行测试。

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.