Mobile robot arm trajectory generation for operation in confined environments

This article gives a novel trajectory generation algorithm which is suitable for operating in confined and dangerous environments. A technique is developed which can, in real time, calculate the existence of a safe path for navigating a robotic manipulator arm between obstacles without collision and accurately generating an efficient path between them. A map of the environment is created in the control servo domain using existing environment data where each dimension of the map space represents one of the degrees of freedom of the manipulator. The map is a multi-dimensional space that represents the control ranges of the manipulator and which contains obstacles to be avoided. The start and desired locations of the arm end effector can be converted into this space so that a path can be generated between them. The space is split into a graph of nodes, and a Dijkstra’s shortest path algorithm is used to generate a safe trajectory. If a successful trajectory can be found, then the arm desired location is achievable and the list of nodes that make up the trajectory form a set of control requirements that can be followed to drive the arm to its desired geometry.

[1]  J. Guo,et al.  A solution to the inverse kinematic problem in robotics using neural network processing , 1989, International 1989 Joint Conference on Neural Networks.

[2]  A. Gasparetto,et al.  A technique for time-jerk optimal planning of robot trajectories , 2008 .

[3]  Farzin Piltan,et al.  Artificial Control of PUMA Robot Manipulator: A-Review of Fuzzy Inference Engine And Application to Classical Controller. , 2011 .

[4]  Kamal K. Gupta,et al.  Path planning with general end-effector constraints , 2007, Robotics Auton. Syst..

[5]  Huosheng Hu,et al.  A complete analytical solution to the inverse kinematics of the Pioneer 2 robotic arm , 2005, Robotica.

[6]  K. H. Choi,et al.  Multi-Arm Path Generation Method for Humanoid Robots , 2007, RO-MAN 2007 - The 16th IEEE International Symposium on Robot and Human Interactive Communication.

[7]  Liu Jian-hua.  Kinematic Analysis for Industrial Robot Arm Joint Based on the ADAMS , 2010 .

[8]  Jen-Hui Chuang,et al.  Potential-based path planning for robot manipulators , 2005, J. Field Robotics.

[9]  Yaonan Wang,et al.  Obstacle avoidance path planning strategy for robot arm based on fuzzy logic , 2012, 2012 12th International Conference on Control Automation Robotics & Vision (ICARCV).

[10]  Bruno Siciliano,et al.  Review of the damped least-squares inverse kinematics with experiments on an industrial robot manipulator , 1994, IEEE Trans. Control. Syst. Technol..

[11]  Yuichi Tsumaki,et al.  Motion analysis of a kinematically redundant seven-DOF manipulator under the singularity-consistent method , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[12]  Yuichiro Anzai,et al.  CAHRA: collision avoidance system for humanoid robot arms with potential field , 2004, 2004 IEEE International Conference on Systems, Man and Cybernetics (IEEE Cat. No.04CH37583).

[13]  Zafer Bingul,et al.  Robot Kinematics: Forward and Inverse Kinematics , 2006 .

[14]  Francisco Ramos,et al.  Time-Optimal Online Trajectory Generator for Robotic Manipulators , 2013 .

[15]  Wang Wei,et al.  3-D Path Planning Using Neural Networks for a Robot Manipulator , 2010, 2010 International Conference on Intelligent Computation Technology and Automation.

[16]  Fabrizio Padula,et al.  A New Pseudoinverse for Manipulator Collision Avoidance , 2011 .

[17]  Lotfi Romdhane,et al.  Path planning for manipulator robots in cluttered environments , 2005 .

[18]  Edsger W. Dijkstra,et al.  A note on two problems in connexion with graphs , 1959, Numerische Mathematik.

[19]  R.M. Alqasemi,et al.  Analysis, evaluation and development of wheelchair-mounted robotic arms , 2005, 9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005..

[20]  Ming-Chuan Leu,et al.  Optimal trajectory generation for robotic manipulators using dynamic programming , 1987 .

[21]  Chih-Cheng Chen,et al.  A combined optimization method for solving the inverse kinematics problems of mechanical manipulators , 1991, IEEE Trans. Robotics Autom..

[22]  A. Gasparetto,et al.  A new method for smooth trajectory planning of robot manipulators , 2007 .

[23]  Koichi Hashimoto,et al.  A review on vision-based control of robot manipulators , 2003, Adv. Robotics.

[24]  Jen-Hui Chuang,et al.  Potential-based path planning for robot manipulators , 2005 .

[25]  Helge J. Ritter,et al.  On-line planning of time-optimal, jerk-limited trajectories , 2008, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[26]  Helge J. Ritter,et al.  Dynamic Path Planning for a 7-DOF Robot Arm , 2006, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[27]  Rob Buckingham,et al.  Snake arm robots , 2002 .

[28]  Robin R. Murphy,et al.  Human-robot interactions during the robot-assisted urban search and rescue response at the World Trade Center , 2003, IEEE Trans. Syst. Man Cybern. Part B.

[29]  A. Guez,et al.  Solution to the inverse kinematics problem in robotics by neural networks , 1988, IEEE 1988 International Conference on Neural Networks.

[30]  B. Davies.  A review of robotics in surgery , 2000, Proceedings of the Institution of Mechanical Engineers. Part H, Journal of engineering in medicine.

[31]  Leslie Cousineau,et al.  Construction Robots: The Search for New Building Technology in Japan , 1998 .

[32]  Seth Hutchinson,et al.  A Framework for Real-time Path Planning in Changing Environments , 2002, Int. J. Robotics Res..

[33]  James Nielsen,et al.  On the Kinematic Analysis of Robotic Mechanisms , 1999, Int. J. Robotics Res..

[34]  Risto Miikkulainen,et al.  Learning Dynamic Obstacle Avoidance for a Robot Arm Using Neuroevolution , 2009, Neural Processing Letters.

[35]  Alexander Verl,et al.  Real-time path planning for a robot arm in changing environments , 2010, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[36]  Takayuki Nakamura.  Real-time 3-D path generation method for a robot arm by a 2-D dipole field , 2013, 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics.

[37]  Shigeo Hirose,et al.  Development of Helios VII: an arm-equipped tracked vehicle for search and rescue operations , 2004, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566).

[38]  Huosheng Hu,et al.  An analysis of the inverse kinematics for a 5-DOF manipulator , 2005, Int. J. Autom. Comput..

[39]  Charles W. Wampler,et al.  Manipulator Inverse Kinematic Solutions Based on Vector Formulations and Damped Least-Squares Methods , 1986, IEEE Transactions on Systems, Man, and Cybernetics.

[40]  S. G. Ponnambalam,et al.  A heuristic approach towards path planning and obstacle avoidance control of planar manipulator , 2012, ICRA 2012.

[41]  Mojtaba Ahmadi,et al.  Path tracking control of tracked vehicles , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[42]  Allon Guez,et al.  On the solution to the inverse kinematic problem , 1990, Proceedings., IEEE International Conference on Robotics and Automation.

[43]  S. Costo,et al.  A NEW ROBOTIC UNIT FOR ONBOARD AIRPLANES BOMB DISPOSAL , 2004 .

[44]  Peter Corke,et al.  VISUAL CONTROL OF ROBOT MANIPULATORS – A REVIEW , 1993 .

[45]  Xuan F. Zha,et al.  Optimal pose trajectory planning for robot manipulators , 2002 .