Name
Title | ||
|---|---|---|
Planning algorithms for multi-setup multi-pass robotic cleaning with oscillatory moving tools |
Abstract | ||
|---|---|---|
We present planning algorithms for cleaning stains on a curved object. Removing the stain may require multiple reorientations and repositions of the object and some portions of the stain may require multiple cleaning passes. The experimental setup involves two robot arms. The first arm immobilizes the object. The second arm moves the cleaning tool. The algorithm analyzes the stain and determines the sequence of positions and orientations needed to clean the part based on the kinematic constraints of the robot arm. Our algorithm uses a depth-first branch-and-bound search to generate setup plan solutions. We also compute the cleaning trajectories and select the cleaning parameters to maximize the cleaning performance. The algorithm generates multi-pass trajectories by replanning based on the observed cleaning performance. Numerical simulations and cleaning experiments with two Kuka
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robots are used to validate our approach. |
Year | DOI | Venue |
|---|---|---|
2016 | 10.1109/COASE.2016.7743478 | 2016 IEEE International Conference on Automation Science and Engineering (CASE) |
Keywords | Field | DocType |
planning algorithms,multisetup multipass robotic cleaning,oscillatory moving tools,curved object stains,multiple object reorientations,object repositioning,multiple cleaning passes,robot arms,position sequences,robot arm kinematic constraints,depth-first branch-and-bound search,cleaning trajectories,multipass trajectories,Kuka1 robots | Computer vision,Robotic arm,Kinematics,Surface cleaning,Planning algorithms,Stain,Simulation,Artificial intelligence,Engineering,Robot,Trajectory,Trajectory planning | Conference |
ISBN | Citations | PageRank |
978-1-5090-2410-0 | 1 | 0.36 |
References | Authors | |
9 | 8 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Ariyan M. Kabir | 1 | 18 | 6.94 |
| Joshua D. Langsfeld | 2 | 16 | 3.32 |
| Shaurya Shriyam | 3 | 6 | 1.49 |
| Vinaichandra Sai Rachakonda | 4 | 1 | 0.36 |
| Cunbo Zhuang | 5 | 1 | 0.69 |
| Krishnanand N. Kaipa | 6 | 81 | 10.88 |
| Jeremy Marvel | 7 | 44 | 9.78 |
| Satyandra K Gupta | 8 | 687 | 77.11 |