Paper Info
Title
Reuleaux: Robot Base Placement by Reachability Analysis
Abstract
Before beginning any robot task, users must position the robot's base, a task that now depends entirely on user intuition. While slight perturbation is tolerable for robots with moveable bases, correcting the problem is imperative for fixed- base robots if some essential task sections are out of reach. For mobile manipulation robots, it is necessary to decide on a specific base position before beginning manipulation tasks. This paper presents Reuleaux, an open source library for robot reachability analyses and base placement. It reduces the amount of extra repositioning and removes the manual work of identifying potential base locations. Based on the reachability map, base placement locations of a whole robot or only the arm can be efficiently determined. This can be applied to both statically mounted robots, where the position of the robot and workpiece ensure the maximum amount of work performed, and to mobile robots, where the maximum amount of workable area can be reached. The methods were tested on different robots of different specifications and evaluated for tasks in simulation and real world environment. Evaluation results indicate that Reuleaux had significantly improved performance than prior existing methods in terms of time-efficiency and range of applicability.
Year
DOI
Venue
2018
10.1109/IRC.2018.00028
2018 Second IEEE International Conference on Robotic Computing (IRC)
Keywords
DocType
Volume
Reachability Map,Base Placement,Kinematics
Conference
abs/1710.01328
ISBN
Citations 
PageRank 
978-1-5386-4653-3
4
0.46
References 
Authors
6
2
Name
Order
Citations
PageRank
Abhijit Makhal140.80
Alex K. Goins240.46