Anderson-Sprecher, Peter (Carnegie Mellon University), Simmons, Reid (Carnegie Mellon University)
Voxel-Based Motion Bounding and Workspace Estimation for Robotic Manipulators
Scheduled for presentation during the Regular Session "Motion Path Planning I" (WeA08), Wednesday, May 16, 2012,
09:30−09:45, Meeting Room 8 (Wacipi)
2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA
This information is tentative and subject to change. Compiled on May 25, 2018
|Keywords Manipulation Planning, Kinematics, Robot Safety
Identification of regions in space that a robotic manipulator can reach in a given amount of time is important for many applications, such as safety monitoring of industrial manipulators and trajectory and task planning. However, due to the high-dimensional configuration space of many robots, reasoning about possible physical motion is often intractable.
In this paper, we propose a novel method for creating a reachability grid, a voxel-based representation that estimates the minimum time needed for a manipulator to reach any physical location within its workspace. We use up to second-degree constraints on joint motion to model motion limits for each joint independently, followed by successive voxel approximations to map these limits on to the robotís physical workspace. Results using a simulated manipulator indicate that our method can produce accurate reachability grids in real-time, even for robots with many degrees of freedom. Furthermore, errors are almost exclusively biased towards producing more optimistic reachability estimates, which is a desirable characteristic for many applications.