Automated Kinematics Equations Generation and Constrained Motion Planning Resolution for Modular and Reconfigurable Robots
Contrary to the repetitive tasks performed by industrial robots, the tasks in most DOE missions such as environmental restoration or Decontamination and Decommissioning (D&D) can be characterized as ''batches-of-one'', in which robots must be capable of adapting to changes in constraints, tools, environment, criteria and configuration. No commercially available robot control code is suitable for use with such widely varying conditions. In this talk we present our development of a ''generic code'' to allow real time (at loop rate) robot behavior adaptation to changes in task objectives, tools, number and type of constraints, modes of controls or kinematics configuration. We present the analytical framework underlying our approach and detail the design of its two major modules for the automatic generation of the kinematics equations when the robot configuration or tools change and for the motion planning under time-varying constraints. Sample problems illustrating the capabilities of the developed system are presented.
- Research Organization:
- Oak Ridge National Lab. (ORNL), Oak Ridge, TN (United States)
- Sponsoring Organization:
- USDOE Office of Science (SC) (US)
- OSTI ID:
- 826014
- Resource Relation:
- Conference: 227th American Chemical Society Meeting, Anaheim, CA (US), 03/28/2004--04/01/2004; Other Information: PBD: 29 Mar 2004
- Country of Publication:
- United States
- Language:
- English
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