Design of Redundant Degrees of Freedom in Task Realization of a Robot System with Positioning Errors of Objects
This paper presents a method to minimize the task completion time of a manipulator system in a multiple-goal task by considering the existence of position errors of objects that may change the manipulator pose (position and orientation) and cause collisions. In this paper, we propose a method which...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
The Japan Society of Mechanical Engineers
2010-11-01
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| Series: | Journal of Advanced Mechanical Design, Systems, and Manufacturing |
| Subjects: | |
| Online Access: | https://www.jstage.jst.go.jp/article/jamdsm/4/7/4_7_1234/_pdf/-char/en |
| _version_ | 1811223971348086784 |
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| author | Jia CHENG Lounell B. GUETA Tamio ARAI Ryosuke CHIBA Tsuyoshi UEYAMA Jun OTA |
| author_facet | Jia CHENG Lounell B. GUETA Tamio ARAI Ryosuke CHIBA Tsuyoshi UEYAMA Jun OTA |
| author_sort | Jia CHENG |
| collection | DOAJ |
| description | This paper presents a method to minimize the task completion time of a manipulator system in a multiple-goal task by considering the existence of position errors of objects that may change the manipulator pose (position and orientation) and cause collisions. In this paper, we propose a method which cannot only reduce this change but also minimize the task completion time of the system. The proposed method resolves the redundancy of the system and the redundancy in the given task using Particle Swarm Optimization under a manipulability restriction. The proposed method is verified through simulations and is shown to be effective. |
| first_indexed | 2024-04-12T08:42:25Z |
| format | Article |
| id | doaj.art-09c00ab2820d4226a9b3725b56fbe909 |
| institution | Directory Open Access Journal |
| issn | 1881-3054 |
| language | English |
| last_indexed | 2024-04-12T08:42:25Z |
| publishDate | 2010-11-01 |
| publisher | The Japan Society of Mechanical Engineers |
| record_format | Article |
| series | Journal of Advanced Mechanical Design, Systems, and Manufacturing |
| spelling | doaj.art-09c00ab2820d4226a9b3725b56fbe9092022-12-22T03:39:49ZengThe Japan Society of Mechanical EngineersJournal of Advanced Mechanical Design, Systems, and Manufacturing1881-30542010-11-01471234124510.1299/jamdsm.4.1234jamdsmDesign of Redundant Degrees of Freedom in Task Realization of a Robot System with Positioning Errors of ObjectsJia CHENG0Lounell B. GUETA1Tamio ARAI2Ryosuke CHIBA3Tsuyoshi UEYAMA4Jun OTA5Research into Artifacts, Center for Engineering, The University of TokyoResearch into Artifacts, Center for Engineering, The University of TokyoDepartment of Precision Engineering, School of Engineering, The University of TokyoFaculty of System Design, Tokyo Metropolitan UniversityDENSO WAVE INCORPORATEDResearch into Artifacts, Center for Engineering, The University of TokyoThis paper presents a method to minimize the task completion time of a manipulator system in a multiple-goal task by considering the existence of position errors of objects that may change the manipulator pose (position and orientation) and cause collisions. In this paper, we propose a method which cannot only reduce this change but also minimize the task completion time of the system. The proposed method resolves the redundancy of the system and the redundancy in the given task using Particle Swarm Optimization under a manipulability restriction. The proposed method is verified through simulations and is shown to be effective.https://www.jstage.jst.go.jp/article/jamdsm/4/7/4_7_1234/_pdf/-char/enmanipulator motion planningmultiple-goal task |
| spellingShingle | Jia CHENG Lounell B. GUETA Tamio ARAI Ryosuke CHIBA Tsuyoshi UEYAMA Jun OTA Design of Redundant Degrees of Freedom in Task Realization of a Robot System with Positioning Errors of Objects Journal of Advanced Mechanical Design, Systems, and Manufacturing manipulator motion planning multiple-goal task |
| title | Design of Redundant Degrees of Freedom in Task Realization of a Robot System with Positioning Errors of Objects |
| title_full | Design of Redundant Degrees of Freedom in Task Realization of a Robot System with Positioning Errors of Objects |
| title_fullStr | Design of Redundant Degrees of Freedom in Task Realization of a Robot System with Positioning Errors of Objects |
| title_full_unstemmed | Design of Redundant Degrees of Freedom in Task Realization of a Robot System with Positioning Errors of Objects |
| title_short | Design of Redundant Degrees of Freedom in Task Realization of a Robot System with Positioning Errors of Objects |
| title_sort | design of redundant degrees of freedom in task realization of a robot system with positioning errors of objects |
| topic | manipulator motion planning multiple-goal task |
| url | https://www.jstage.jst.go.jp/article/jamdsm/4/7/4_7_1234/_pdf/-char/en |
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