Robotic Motion Planning with Quasistatic Force Constraints

这 研究项目将开发一个 准静态 运动规划范例是经典机器人运动规划范例的重要扩展。当机器人机构和其环境之间需要产生和/或稳定机器人的运动的显着的反作用力时，准静态问题出现。 规划范例是基于PI最近开发的配置空间流动性理论。 为了证明这项工作的实际效用，算法将开发和实施两个重要的准静态应用程序的例子：一个新的工件夹具算法，将曲率的夹具到规划阶段;和一个概念验证的2维准静态规划系统的高度关节型机器人。该规划器将在实验室的实际机器人原型上进行测试。

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.