A path planning strategy for kinematically redundant manipulators anticipating joint failures in the presence of obstacles

Jamisola, Rodrigo S.; Maciejewski, Anthony A.; Roberts, Rodney G.

doi:10.1109/iros.2003.1250619

Cited by 10 publications

(5 citation statements)

References 35 publications

(27 reference statements)

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“…al. [10] provided a technique of searching for a constant obstacle-free room between the starting setup and the required end-effector position defined by a target self-motion manifold in the joint room. This method guarantees completion of critical task in the event of a single locked-joint failure in the presence of obstacles.…”

Section: Related Workmentioning

confidence: 99%

Optimization of Energy Consumption in KUKA KR 16 Articulated Robot Manipulator

Shah¹,

Sulaiman²,

Isa³

et al. 2019

IJRTE

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A study for optimal energy consumption in KUKA KR 16 articulated robot for pick-and-place task was introduce in this paper. In order to achieve the optimal energy consumption, an improve trajectory planning is required. Essentially, trajectory planning encompasses path planning in addition to planning how to move based on velocity, time and kinematics. Trajectory planning gives a path from a starting to a goal point by avoiding collisions in a 2D or 3D space. Therefore, this paper is focus on analyze the PTP motion and Linear motion in order to determine which is the best motion that can improve the trajectory planning. The optimal energy consumption to minimizing the movement based on three main axes where it used a big motors used to drive the axes. This method is much simpler in terms of development process and did not require any additional hardware to be install to the robot’s system. KUKA KR 16 is use to study optimal energy consumption and analyze PTP and Linear motion. The energy performance is measures with respect to two categories of movements known as Default and Optimal movement which do the same task repetitively within specific time. The result show that PTP motion consumed 6% more energy than Linear motion but completed 773 cycles within one hour whereas Linear motion only completed 492 cycles. Energy performance between Default and Optimal movement shows that Optimal movement recorded 21.8% less energy usage when compared to Default movement although the total cycles completed for both movement almost the same

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Section: Related Workmentioning

confidence: 99%

Optimization of Energy Consumption in KUKA KR 16 Articulated Robot Manipulator

Shah¹,

Sulaiman²,

Isa³

et al. 2019

IJRTE

View full text Add to dashboard Cite

show abstract

“…Following the steps, some of best technology assets will be invested such as Tomi's key Components such as GPS systems and Trimble systems connected with Microsoft Robotics Studio about development of new Tomi Robotics. MSRS contains services and tools that allow engineers to design, develop them robotics [3][4][5] .Application built with MSRS will run over on the WebFarming internet, the platform will be built by developers on Web-farming robotics applications [6][7][8] . it has been difficult for new programmers and engineers to enter the field of robotics, but MSRS offers a standard platform that can be used by everyone just as office management software system.…”

Section: ----------------------------1 Review On Safety Systems Used mentioning

confidence: 99%

Design and evaluate intelligent control safety systems on the TOMI robot

et al. 2018

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Aimed to design safety systems and evaluate the behaviours about Robot grass cutting named TOMI, the False Tree Analysis, Failure Mode Effects Tree Analysis methods were used for review and analysis about the TOMI Robot, it would be liability and legislation; TOMI Robot management embedded guidelines and knowledge such as Agricultural Engineering, Design and manufacture of agricultural machinery, Mechanic Theory, Mathematics, Electronics, Grass science, Computer science and several software programs; Procedure and Reliability analysis for robots TOMI safety systems are key features ， the safety systems of Agricultural Robot such as TOMI should be checked in various working circumstance; With the full consideration of engineering practicability, the solutions to the safety problems of the TOMI robot are promoted, Technology Route and models about TOMI's safety system were built, Process Management 、 continual improvement tools and Techniques and effects analysis were built in the new safety systems of TOMI Robot.TOMI Function Measurements such as Braking、throttle and pedal force were tested and analysised.TOMI's Mechanical system 、 Hydraulics and Electrical Systems were tested for checking safety and evaluated, some sensors and laser such as Distance sensors, SICK, GPS, Dead man handle, safety red button and bumpers were built up and developed the TOMI Robot's new safety systems; To ensure the safety and reliable operation is a system engineering, it is involved to various TOMI robot design, production, operation, adjust, and management; to improve the TOMI robot reliability and reduce the failure frequency was an important way to improve the robot inherent safety; The Evaluation Criteria of Robot grass Cutting DFMEA occurrence may be suggested to use multiple complex technology knowledge and design with more experience. Application built with Microsoft Robot Development studio was run over on the www.webfarming.com. The hazard and risk analysis were detailed about the safety problems of TOMI robot and deeply studied. Development more practical and safety TOMI Robot would be carried out at northwest China in the future.

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“…A new approach to obstacle avoidance with failure tolerance is shown in Jamisola et al (2003) and Jamisola et al (2006). The existence of an obstacle-free surface in the configuration space (C-space) with no local minimum guarantees task completion despite joint failures and obstacles in the workspace.…”

Section: Introductionmentioning

confidence: 99%

Optimization of Failure-Tolerant Workspaces for Redundant Manipulators

Jamisola, Jr.

2010

SciEnggJ

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For a redundant manipulator a region in its workspace that is guaranteed failure tolerant, called the failure-tolerant workspace, promises completion of critical tasks placed within it. By judiciously choosing a set of artificial joint limits which constrain the acceptable robot configurations prior to a failure, a failuretolerant workspace can possibly exist even for manipulators with a single degree of redundancy. This work identifies the candidate boundaries of failure-tolerant workspaces, and presents justification on their validity and completeness. Based on the identified boundaries, optimization results for a 3-degreeof-freedom (dof) planar manipulator, as well as for a 4-dof planar manipulator, are presented. It assumed that the manipulator has the ability to lock a joint that has failed, and that the manipulator’s workspace degree of freedom remains the same before and after a joint failure.

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A path planning strategy for kinematically redundant manipulators anticipating joint failures in the presence of obstacles

Cited by 10 publications

References 35 publications

Optimization of Energy Consumption in KUKA KR 16 Articulated Robot Manipulator

Optimization of Energy Consumption in KUKA KR 16 Articulated Robot Manipulator

Design and evaluate intelligent control safety systems on the TOMI robot

Optimization of Failure-Tolerant Workspaces for Redundant Manipulators

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