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Motion planning in cartesian space for the collaborative redundant robot Sawyer

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Resumo:Over the past few decades, the research in the field of industrial robotics has been developing solutions to optimize manufacturing processes. In this context, this project of dissertation arises with the aim of developing a Cartesian planner subject to a set of restrictions specified by the user for a certain task, that will be performed by the collaborative robot Sawyer. The aim of this dissertation is to study the problem of the path planning subject to restrictions, essentially associated with the minimum radius of curvature. The case of study consists on the deposition of an optic fibre filament in a PCB. The objective is to use the optic fibre as a sensor in the quality control of the produced PCBs. For this purpose, this dissertation project is divided in two subtasks, namely, the path generation in the PCB and the robot trajectory generation. As for the path planning, it is subject to a set of constraints, such as: (i) several target points in the same path; (ii) straight linear segments at each target point, and (iii) the final path must validate the defined minimum radius of curvature. Regarding the trajectory generation for the Sawyer robot, it should follow the generated path. For this, the final trajectory must have a smooth movement, avoiding singularities and collisions with the obstacles present in the scenario. The validation of the system was performed in a virtual and laboratory environment, through the execution of the task in which the robot simulates the placement of a filament on a PCB. The results showed that the developed path planning method is able to find a solution that accommodate all the imposed constraints. Furthermore, the trajectory created for the robotic system Sawyer, allowed to follow the desired path.
Autores principais:Costa, Pedro Gonçalves da
Assunto:Path planning Cartesian space Motion planning Sawyer robot Planeamento de caminho Espaço cartesiano Planeamento de movimento
Ano:2019
País:Portugal
Tipo de documento:dissertação de mestrado
Tipo de acesso:acesso aberto
Instituição associada:Universidade do Minho
Idioma:inglês
Origem:RepositóriUM - Universidade do Minho

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