Motion Planning for Vision-based Stevedoring Tasks  on Industrial Robots

	Motion Planning for Vision-based Stevedoring Tasks on Industrial Robots
	Wang, Shijun; Guo, Hao; Cao, Xuewei; Chai, Xiaojie; Wen, Feng; Yuan, Kui
	2015-08
会议名称	2015 IEEE International Conference on Mechatronics and Automation
会议录名称	Proceedings of 2015 IEEE International Conference on Mechatronics and Automation
会议日期	August 2-5, 2015
会议地点	Beijing, China
摘要	This paper proposed an autonomous robot motion planner for industrial robots with a focus on vision-based stevedoring applications. The planning algorithm can be divided into two stages. The first stage generates initial geometric paths in the Cartesian space: with the 3D model of the environment and the picking and placing pose of the robot’s wrist obtained by visual system, the planner finds a collision-free path using workspace cell decomposition. The second stage searches for a time-jerk optimal joints trajectories: the planner transforms the path nodes described in the Cartesian space into joints angels in the joints configuration space, then formulates and solves the optimization problem by means of cubic splines. The simulation experiments show the obvious improvement of our method with a contrast to several state-of-art algorithms in this field. And the grasping experiment verifies the practicability and effectiveness of the method on the basis of the embedded visual system and ABB120 type industrial robot.
关键词	Motion Planner Cell Decomposition Industrial Robot Optimization
文献类型	会议论文
条目标识符	http://ir.ia.ac.cn/handle/173211/14351
专题	智能制造技术与系统研究中心_智能机器人
通讯作者	Wang, Shijun
作者单位	中国科学院自动化研究所
第一作者单位	中国科学院自动化研究所
通讯作者单位	中国科学院自动化研究所
推荐引用方式 GB/T 7714	Wang, Shijun,Guo, Hao,Cao, Xuewei,et al. Motion Planning for Vision-based Stevedoring Tasks on Industrial Robots[C],2015.

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