A Novel Collision-Free Path Planning Modeling and Simulation Methodology for Robotical Arms Using Resistive Grids

Hernández-Mejía, Carlos; Vázquez-Leal, H.; Torres-Muñoz, Delia

doi:10.1017/s0263574719001310

Cited by 4 publications

(8 citation statements)

References 30 publications

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“…The resistive grid’s geometry determines the position of each node in the

; it has a direct influence on the resolution of the motion, which determines the nature and smoothness of the manipulator’s movements. In this work, the implementations are performed using a square geometry because its implementation in multidimensional spaces is straightforward [ 16 ]. The square mesh provides diagonal paths along with horizontal and vertical paths, as depicted in Figure 3 a.…”

Section: Resistive Grid-based Planning Methodsmentioning

confidence: 99%

“…Second, the stamp of the independent voltage sources (IVS is):

where

represents the nodal voltages, i is the terminal node of the IVS in the RG, E is the voltage supplied by the IVS, and

is the unknown current that crosses the IVS. Notably, the IVS adding an extra column corresponds to

, and an extra row corresponds to the branch equations (BEs) of the IVS [ 16 , 23 ]. In addition, a characteristic to note in the RGBPM method is that a defined grid in 2D of

generates a linear system of MNA equations of

.…”

Section: Resistive Grid-based Planning Methodsmentioning

confidence: 99%

“…RGBPM is a versatile tool that has been used to find collision-free paths for mobile robots [ 30 , 31 , 32 ], as a technique to locate the shortest route in vehicle guidance applications [ 29 ] and collision-free path planning for planar manipulators [ 16 , 34 ]. Although this versatility has only been exploited for two- and three-dimensional grids, for high-dimensionality, the complexity of representation is a difficult task as the current RGBPM implementations in [ 16 , 23 , 34 ] do not report any methodology capable of providing a suitable model or mathematical representation. This section explains how the implementation of RGBPM is possible in real industrial manipulator applications and the restrictions that must be considered for its correct implementation.…”

Section: Rgbpm Applied To Industrial Robot Manipulatorsmentioning

confidence: 99%

“…The task of generating collision-free paths with applications in industrial robotics for manipulators is a field that has attracted the attention of many researchers due to the large demand in the market [ 7 , 8 ]. In this sense, numerous planning strategies have been developed with different approaches such as sampling-based algorithms [ 4 , 9 , 10 , 11 ], artificial potential fields [ 2 , 12 ], heuristic approaches [ 13 , 14 , 15 ], and grid-based planners [ 1 , 7 , 16 , 17 , 18 ]. The latter ones have properties that make them useful in industrial applications; the most relevant are the following: (1) The

being generated only once for a static environment is the most common in industrial applications.…”

Section: Introductionmentioning

confidence: 99%

“…The GBPs have some important properties that make them useful in industrial applications such as (1) the generation of the

is carried out only once for a static environment, (2) these are considered resolution complete planners, (3) the representation of the obstacles is straightforward since the representation by occupation cells is used, and (4) the

is easily stored in a bitmap of shape

, where n is the number of the manipulator’s joints,

is the number of possible values of each joint angle, and

is the size of the grid of the i th joint. Recently, one of the planning methods that was proven to be efficient and versatile in intelligent system applications is the resistive grid-based planner [ 16 , 23 , 29 , 30 , 31 ]. It has all the features described above that commonly distinguish a grid-based planner.…”

Section: Introductionmentioning

confidence: 99%

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Exploring a Novel Multiple-Query Resistive Grid-Based Planning Method Applied to High-DOF Robotic Manipulators

Huerta-Chua

Diaz-Arango

Vázquez-Leal

et al. 2021

Sensors

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The applicability of the path planning strategy to robotic manipulators has been an exciting topic for researchers in the last few decades due to the large demand in the industrial sector and its enormous potential development for space, surgical, and pharmaceutical applications. The automation of high-degree-of-freedom (DOF) manipulator robots is a challenging task due to the high redundancy in the end-effector position. Additionally, in the presence of obstacles in the workspace, the task becomes even more complicated. Therefore, for decades, the most common method of integrating a manipulator in an industrial automated process has been the demonstration technique through human operator intervention. Although it is a simple strategy, some drawbacks must be considered: first, the path’s success, length, and execution time depend on operator experience; second, for a structured environment with few objects, the planning task is easy. However, for most typical industrial applications, the environments contain many obstacles, which poses challenges for planning a collision-free trajectory. In this paper, a multiple-query method capable of obtaining collision-free paths for high DOF manipulators with multiple surrounding obstacles is presented. The proposed method is inspired by the resistive grid-based planner method (RGBPM). Furthermore, several improvements are implemented to solve complex planning problems that cannot be handled by the original formulation. The most important features of the proposed planner are as follows: (1) the easy implementation of robotic manipulators with multiple degrees of freedom, (2) the ability to handle dozens of obstacles in the environment, (3) compatibility with various obstacle representations using mathematical models, (4) a new recycling of a previous simulation strategy to convert the RGBPM into a multiple-query planner, and (5) the capacity to handle large sparse matrices representing the configuration space. A numerical simulation was carried out to validate the proposed planning method’s effectiveness for manipulators with three, five, and six DOFs on environments with dozens of surrounding obstacles. The case study results show the applicability of the proposed novel strategy in quickly computing new collision-free paths using the first execution data. Each new query requires less than 0.2 s for a 3 DOF manipulator in a configuration space free-modeled by a 7291 × 7291 sparse matrix and less than 30 s for five and six DOF manipulators in a configuration space free-modeled by 313,958 × 313,958 and 204,087 × 204,087 sparse matrices, respectively. Finally, a simulation was conducted to validate the proposed multiple-query RGBPM planner’s efficacy in finding feasible paths without collision using a six-DOF manipulator (KUKA LBR iiwa 14R820) in a complex environment with dozens of surrounding obstacles.

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“…The resistive grid’s geometry determines the position of each node in the

Section: Resistive Grid-based Planning Methodsmentioning

confidence: 99%

“…Second, the stamp of the independent voltage sources (IVS is):

where

represents the nodal voltages, i is the terminal node of the IVS in the RG, E is the voltage supplied by the IVS, and

is the unknown current that crosses the IVS. Notably, the IVS adding an extra column corresponds to

, and an extra row corresponds to the branch equations (BEs) of the IVS [ 16 , 23 ]. In addition, a characteristic to note in the RGBPM method is that a defined grid in 2D of

generates a linear system of MNA equations of

.…”

Section: Resistive Grid-based Planning Methodsmentioning

confidence: 99%