Multiple-Goal Task Realization Utilizing Redundant Degrees of Freedom of Task and Tool Attachment Optimization
Minimizing the task completion time of manipulator systems is essential in order to achieve high productivity. In this paper, this problem is dealt with by utilizing the redundant degrees of freedom (DOF) of a given task and the tool attachment optimization. For example, in a vision-based inspection where a camera is held by a manipulator, the extra DOF can be brought about by allowing the camera to be translated along its approach axis or rotated about this axis when capturing images. Furthermore, the manipulator end-effector position and orientation is optimized by designing an additional linkage at the manipulator end-effector which is called a tool attachment. A 7-DOF manipulator system is used in the simulations to verify the proposed approach. Results showed that this approach can minimize the task completion time by about 17％ compared to conducting only motion coordination.
Lounell B. Gueta Jia Cheng Ryosuke Chiba Tamio Arai Tsuyoshi Ueyama Jun Ota
Research into Artifacts,Center for Engineering,at the University of Tokyo,5-1-5 Kashiwanoha,Kashiwa, Faculty of System Design,Tokyo Metropolitan University,6-6,Asahigaoka,Hino-shi,Tokyo,Japan,191-0065 Department of Precision Engineering,School of Engineering,at the University of Tokyo,7-3-1 Hongo,Bun DENSO WAVE INCORPORATED,1,Yoshiike,Kusaki,Agui-cho,Chita-gun,Aichi,Japan,470-2297
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
1714-1719
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）