Automatic programming and generation of collision-free paths for the Mitsubishi Movemaster RV-M1 robot

• Autorzy: Foit K. , Kost G. G. , Reclik D.
• Języki publikacji: EN

Abstrakty

EN

Purpose: of this paper: This paper discuss the possibility to develop and implementing the computer system, which could be able to generate a collision-free path and prepare the data for direct implementing in the robot’s program. Design/methodology/approach: The existing methods of planning of the collision-free paths are mainly limited to the 2D issue and implemented for the mobile robots. The existing methods for planning the trajectory in 3D are often complicated and time-consuming, so most of them are not introduced in reality, being only a theory. In the paper the 2½D method has been presented together with the method of smoothing the generated trajectory. Experiments have been carried out in the virtual environment as well as on the real robot. Findings: The developed PLANER application has been adapted for cooperation with the Mitsubishi Movemaster RV-M1 robot. The current tests, together with the previous one carried out on the Fanuc RJ3iB robot, have shown the versatility of the method and the possibility to adapt it for cooperation with any robotic system. Research limitations/implications: The further stage of research will be concentrated on the consolidation of trajectory generating and simulation phase with the program execution stage in such a way, that the determination of collision-free path could be realized in real time. Practical implications: This approach clearly simplifies the stage of defining the relevant points of the trajectory in order to avoid collisions with the technological objects located in the robot’s manipulator environment. Thereby it significantly reduces the time needed for implementation of the program to the production cycle. Originality/value: The method of generating the collision-free trajectories, which is described in the paper, combines some of the existing tools with the new approach to achieve the optimal performance of the algorithm.

Słowa kluczowe

EN

robotics; collision-free paths; automatic programming

• Wydawca: International OCSCO World Press
• Czasopismo: Journal of Achievements in Materials and Manufacturing Engineering
• Rocznik: 2011
• Tom: Vol. 47, nr 1
• Strony: 57--65
• Opis fizyczny: Bibliogr. 16 poz., rys.

Twórcy

autor

Foit K.

• Institute Of Engineering Processes Automation And Integrated Manufacturing Systems, Silesian University of Technology, ul. Konarskiego 18a, 44-100 Gliwice, Poland

autor

Kost G. G.

• Institute Of Engineering Processes Automation And Integrated Manufacturing Systems, Silesian University of Technology, ul. Konarskiego 18a, 44-100 Gliwice, Poland

autor

Reclik D.

• Institute Of Engineering Processes Automation And Integrated Manufacturing Systems, Silesian University of Technology, ul. Konarskiego 18a, 44-100 Gliwice, Poland

Bibliografia

• [1] J.C. Latombe, Robot motion planning, Kluwer Academic Publishers, London, 1993.
• [2] G.G. Kost, Method of avoiding collisions of a robot with its environment based on the system of weights, Proceedings of the 7th International Conference “Automation/Robotics in theory and practice” ROBTEP’2004, Vysne Ruzbachy, 2004, 301-304.
• [3] G.G. Kost, Strategy of determining non collision trajectories of robot operating in a complex process environment, Proceedings of the 7th International Conference “Automation/Robotics in theory and practice” R0BTEP’2004, Vysne Ruzbachy, 2004, 305-308.
• [4] G.G. Kost, System of designing robot trajectory on the grounds of Markov’s decision processes and Q-learning algorithm, Proceedings of the 7th International Conference “Automation/Robotics in theory and practice” ROBTEP’2004, Vysne Ruzbachy 2004, 309-312.
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• [6] I. Dulęba, The algorithms of optimal planning of the robot’s trajectory with use of the discretized phase plane, PhD thesis, Wroclaw University of Technology, 1992 (in Polish).
• [7] I. Dulęba, Methods and algorithms of motion planning of the mobile and manipulation robots, EXIT, Warsaw, 2001.
• [8] M. Egerstedt, C.F. Martin, Optimal trajectory planning and smooth splines, Automatica 37/7 (2001) 1057-1064.
• [9] A. Elnagar, A. Hussein, On optimal constrained trajectory planning in 3D environments. Robotics and Autonomous Systems 33 (2000) 195-206.
• [10] I. Dulęba, Algorithms of motion planning for nonholonomic robots, Publishing House of Wroclaw University of Technology, Wrocław, 1998.
• [11] D. Reclik, G. Kost, The 2½D algorithm in robot workspace analysis, Proceedings of the 4th Conference “Mechatronic Systems and Materials” MSM 2008, Acta Mechanica et Automatica 2/3 (2008) 65-70.
• [12] D. Reclik, G. Kost, The comparison of elastic band and B-Spline polynomials methods in smoothing process of collision-less robot trajectory, Journal of Achievements in Materials and Manufacturing Engineering 29/2 (2008) 187-190.
• [13] D. Reclik, Planning and the optimizing of the collision-free trajectory of manipulating robot in its workspace, PhD thesis, Silesian University of Technology, Gliwice, 2010 (in Polish).
• [14] K. Foit, J. Świder, The project of a platform-independent, offline programming system for industrial robots, Proceedings of the 7th International Scientific Conference on "Computer Integrated Manufacturing - Intelligent Manufacturing Systems” CIM2005, Gliwice-Wisła, 2005, 62-65.
• [15] J. Świder, K. Foit, G. Wszołek, D. Mastrowski, The off-line programming and simulation software for the Mitsubishi Movemaster RV-M1 robot, Journal of Achievements in Materials and Manufacturing Engineering 20 (2007) 499-502.
• [16] K. Foit, The web-based programming interface for the Mitsubishi Movemaster robot, Journal of Achievements in Materials and Manufacturing Engineering 27/2 (2008) 183-186.