ICRA 2011 Paper Abstract


Paper TuP1-InteracInterac.12

Gueta, Lounell B. (Center for Engineering, University of Tokyo), Cheng, Jia (the University of Tokyo), Chiba, Ryosuke (Tokyo Metropolitan University), Arai, Tamio (The University of Tokyo), ueyama, tsuyoshi (DENSO WAVE INCORPORATED), Ota, Jun (The University of Tokyo)

Multiple-Goal Task Realization Utilizing Redundant Degrees of Freedom of Task and Tool Attachment Optimization

Scheduled for presentation during the Poster Sessions "Interactive Session II: Systems, Control and Automation" (TuP1-InteracInterac), Tuesday, May 10, 2011, 13:40−14:55, Hall

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on March 30, 2020

Keywords Factory Automation, Motion and Path Planning


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.



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