A General Approach for Constrained Robotic Coverage Path Planning on 3D Freeform Surfaces

运动规划 路径(计算) 计算机科学 机器人 数学优化 工程制图 工程类 人工智能 数学 程序设计语言
作者
Sean McGovern,Jing Xiao
出处
期刊:IEEE Transactions on Automation Science and Engineering [Institute of Electrical and Electronics Engineers]
卷期号:21 (4): 5546-5557 被引量:3
标识
DOI:10.1109/tase.2023.3313228
摘要

There are many industrial robotic applications which require a robot manipulator's end-effector to fully cover a 3D surface region in a constrained motion. Constrained surface coverage in this context is focused on placing commonly used coverage patterns (such as raster, spiral, or dual-spiral) onto the surface for the manipulator to follow. The manipulator must continuously satisfy surface task constraints imposed on the end-effector while maintaining manipulator joint constraints. While there is substantial research for coverage on planar surfaces, methods for constrained coverage of 3D (spatial) surfaces are limited to certain (parametric or spline) surfaces and do not consider feasibility systematically given manipulator and task constraints. There is a lack of fundamental research to address the general problem: given a manipulator, a 3D freeform surface, and task constraints, whether there exists a feasible continuous motion plan to cover the surface, and if so, how to produce a uniform coverage path that best satisfies task constraints. In this paper, we introduce a general approach to address this fundamental but largely open coverage problem. We have applied our approach to example 3D freeform surface coverage tasks in simulation and real world environments with a 7-DOF robotic manipulator to demonstrate its effectiveness. Note to Practitioners —This paper was motivated by the constrained coverage path planning problem on 3D freeform surfaces for many industrial applications, such as painting, spray coating, abrasive blasting, polishing, shotcreting, etc. It provides a principled and general approach that includes an automatic robotic system to find feasible robotic end-effector paths for covering a 3D freeform surface with some interaction from a human worker who provides key parameters related to the specific task without being an expert in robotics. Therefore, the approach enables a human worker who only has the domain knowledge of a specific coverage task to operate the general and automatic robotic system effectively for completing the task.
最长约 10秒,即可获得该文献文件

科研通智能强力驱动
Strongly Powered by AbleSci AI
更新
PDF的下载单位、IP信息已删除 (2025-6-4)

科研通是完全免费的文献互助平台,具备全网最快的应助速度,最高的求助完成率。 对每一个文献求助,科研通都将尽心尽力,给求助人一个满意的交代。
实时播报
敢甘完成签到,获得积分10
刚刚
qqj发布了新的文献求助80
1秒前
DD发布了新的文献求助10
1秒前
微笑完成签到,获得积分10
2秒前
real_cy完成签到,获得积分10
2秒前
2秒前
2秒前
星星轨迹完成签到,获得积分10
2秒前
popooo完成签到,获得积分10
3秒前
4秒前
风清扬发布了新的文献求助10
4秒前
Ava应助yangjiang采纳,获得10
4秒前
桃花落完成签到,获得积分10
4秒前
研友_VZG7GZ应助darmy采纳,获得10
4秒前
6秒前
6秒前
zhaoyuyuan发布了新的文献求助10
6秒前
6秒前
6秒前
汉堡包应助shuangcheng采纳,获得10
7秒前
清脆靳完成签到,获得积分10
8秒前
8秒前
充电宝应助故意的灯泡采纳,获得10
8秒前
8R60d8应助readhistory采纳,获得10
8秒前
esbd完成签到,获得积分10
9秒前
9秒前
小王发布了新的文献求助30
9秒前
10秒前
10秒前
10秒前
慕青应助小草采纳,获得10
10秒前
JianYugen完成签到,获得积分0
11秒前
Lee发布了新的文献求助10
11秒前
Wecple完成签到 ,获得积分10
11秒前
脑洞疼应助Camille采纳,获得10
11秒前
11秒前
PengHu发布了新的文献求助10
11秒前
地表飞猪应助popooo采纳,获得50
11秒前
42完成签到 ,获得积分10
12秒前
12秒前
高分求助中
A new approach to the extrapolation of accelerated life test data 1000
Cognitive Neuroscience: The Biology of the Mind 1000
Technical Brochure TB 814: LPIT applications in HV gas insulated switchgear 1000
ACSM’s Guidelines for Exercise Testing and Prescription, 12th edition 500
Picture Books with Same-sex Parented Families: Unintentional Censorship 500
Nucleophilic substitution in azasydnone-modified dinitroanisoles 500
不知道标题是什么 500
热门求助领域 (近24小时)
化学 材料科学 医学 生物 工程类 有机化学 生物化学 物理 内科学 纳米技术 计算机科学 化学工程 复合材料 遗传学 基因 物理化学 催化作用 冶金 细胞生物学 免疫学
热门帖子
关注 科研通微信公众号,转发送积分 3969060
求助须知:如何正确求助?哪些是违规求助? 3513962
关于积分的说明 11171223
捐赠科研通 3249302
什么是DOI,文献DOI怎么找? 1794772
邀请新用户注册赠送积分活动 875377
科研通“疑难数据库(出版商)”最低求助积分说明 804769