On-line collision and deadlock avoidance of PTP command-based industrial manipulators using advanced collision map
Başlık çevirisi mevcut değil.
- Tez No: 784706
- Danışmanlar: PROF. DR. YASUMİCHİ AIYAMA
- Tez Türü: Doktora
- Konular: Mekatronik Mühendisliği, Mechatronics Engineering
- Anahtar Kelimeler: Belirtilmemiş.
- Yıl: 2015
- Dil: İngilizce
- Üniversite: Unıversıty Of Tsukuba
- Enstitü: Yurtdışı Enstitü
- Ana Bilim Dalı: Belirtilmemiş.
- Bilim Dalı: Belirtilmemiş.
- Sayfa Sayısı: Belirtilmemiş.
Özet
Özet yok.
Özet (Çeviri)
Since many industrial applications include multiple robot manipulators to achieve several tasks in same workspace, the collision avoidance becomes a significant matter to be considered. Off-line motion planning is the common method which is widely used in factory automation. However, when the control commands of each robot are unpredictable due to unstructured environment such as bin picking, it is necessary to consider on-line motion planning. Moreover, point-to-point (PTP) command-based control, which is widely used for industrial robots, is implemented using a black box controller. That means no modification is possible in the controller system. Thus, the collision avoidance for such robots in on-line mode becomes a significant issue. This research aims to build a system that can avoid the collisions and deadlocks of n-robot industrial manipulators that are controlled using PTP commands in on-line mode. The robots share same workspace and they have no prior knowledge of the commands which will be sent after start up the system. To this end, three essential issues are necessary to be addressed. Collision Detection, Collision Avoidance, and Deadlock Avoidance. First, an Advanced Collision Map method is developed to detect the collisions between whole bodies of the robot manipulators and represent them as collision areas on the map. This map provides simple 2D scheme which relates travelling length to servo time, and thus, the collisions which may occur in 3D-space are converted into 2D-space. That gives simplicity of dealing with the problem of collision avoidance. Collision detection using advanced collision map requires to calculate the robots' motions. But since the industrial robot manipulators have complicated shapes, the mathematical expression of robot body is hard and burdensome. Therefore, to decrease the computational cost, the links of the robots are approximated geometrically using the swept sphere volume which presents tight modelling. Furthermore, it is extremely easy to check for collisions and, therefore, feasible for on-line applications. Second, a Time Scheduling Method is applied in this work to avoid the collisions which are detected using advanced collision map. The method guarantees collision-free path of the robot by modifying the trajectory of that robot without changing the geometric path that is provided by PTP command. It is successful to apply this method due to restrictions of the proposed system that are controlled using black box controllers. Third, an Escaping Technique is developed to avoid the deadlocks which may occur if any robot becomes an obstacle in front of the other. This technique is based on proposing an escaping goal in six directions for the robot manipulator which causes the deadlock. The technique utilizes advanced collision map method intelligently to detect the collisions for the process of avoiding the deadlocks, in addition to decrease meaningless travelling which may be got by proposing far escaping goal. The collision and deadlock avoidance system has been built for two robot manipulators at first. Then, the system has been generalized to include n-robot manipulators in the workspace. Finally, to demonstrate the effectiveness of proposed methods, the system has been tested and evaluated using an openGL-based simulator.
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