Planning cuts for mobile robots with bladed tools

Linear bladed cutting tools, such as jigsaws and reciprocating saws are vital manufacturing tools for humans. They enable people to cut structures that are much larger than themselves. Robots currently lack a generic path planner for linear bladed cutting tools. We developed a model for bladed tools based on Reeds-Shepp cars, and used the model to make a generic path planning algorithm for closed curves. We built an autonomous mobile robot which can implement the algorithm to cut arbitrarily large shapes in a 2D plane. We tested the robots performance and demonstrated the algorithm on several test cases.

[1]  Mehmet Remzi Dogar,et al.  Multi-robot grasp planning for sequential assembly operations , 2015, 2015 IEEE International Conference on Robotics and Automation (ICRA).

[2]  Lorenz T. Biegler,et al.  On the implementation of an interior-point filter line-search algorithm for large-scale nonlinear programming , 2006, Math. Program..

[3]  Ross A. Knepper,et al.  IkeaBot: An autonomous multi-robot coordinated furniture assembly system , 2013, 2013 IEEE International Conference on Robotics and Automation.

[4]  Jae-Bok Song,et al.  Mobile Robot Localization Using Optical Flow Sensors , 2004 .

[5]  Greg Lewin,et al.  Lighthouse localization for unmanned applications , 2016, 2016 IEEE Systems and Information Engineering Design Symposium (SIEDS).

[6]  Andre J. Lubbe,et al.  THE DEVELOPMENT OF A COMPUTER DRIVEN JIGSAW , 2012 .

[7]  L. Dubins.  On Curves of Minimal Length with a Constraint on Average Curvature, and with Prescribed Initial and Terminal Positions and Tangents , 1957 .

[8]  Gunther Reinhart,et al.  A generic framework for workpiece-based programming of cooperating industrial robots , 2009, 2009 International Conference on Mechatronics and Automation.

[9]  P. Ring,et al.  Control of Industrial Robots for Meat Processing Applications , 1991 .

[10]  Michael A. Saunders,et al.  SNOPT: An SQP Algorithm for Large-Scale Constrained Optimization , 2002, SIAM J. Optim..

[11]  Jon Rigelsford,et al.  Manufacturing Automation: Metal Cutting Mechanics, Machine Tool Vibrations, and CNC Design , 2004 .

[12]  Reid G. Simmons,et al.  Mobile robotic dynamic tracking for assembly tasks , 2009, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[13]  Jean-Paul Laumond,et al.  Guidelines in nonholonomic motion planning for mobile robots , 1998 .

[14]  Vijay Kumar,et al.  Construction with quadrotor teams , 2012, Auton. Robots.

[15]  Tae Jo Ko,et al.  Mechanistic cutting force model in band sawing , 1999 .

[16]  Reid G. Simmons,et al.  An autonomous mobile manipulator for assembly tasks , 2010, Auton. Robots.

[17]  Siddhartha S. Srinivasa,et al.  Guided Manipulation Planning at the DARPA Robotics Challenge Trials , 2014, ISER.

[18]  Samer S. Saab,et al.  A Standalone RFID Indoor Positioning System Using Passive Tags , 2011, IEEE Transactions on Industrial Electronics.

[19]  Oussama Khatib,et al.  Development and Control of a Holonomic Mobile Robot for Mobile Manipulation Tasks , 2000, Int. J. Robotics Res..

[20]  B. Lehmann.  The cutting behavior of bandsaws , 1993 .

[21]  Mehmet Remzi Dogar,et al.  Towards Coordinated Precision Assembly with Robot Teams , 2014, ISER.

[22]  Beijing Beijing,et al.  IEEE International Conference on Mechatronics and Automation , 2015 .

[23]  Edwin Olson,et al.  AprilTag: A robust and flexible visual fiducial system , 2011, 2011 IEEE International Conference on Robotics and Automation.