| A Method for Optimizing the Base Position of Mobile Painting Manipulators | |
Ren, Shunan1 ; Xie, Ying2; Yang, Xiangdong3; Xu, Jing3; Wang, Guolei3; Chen, Ken3
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| 发表期刊 | IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING
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| ISSN | 1545-5955 |
| 2017 | |
| 卷号 | 14期号:1页码:370-375 |
| 通讯作者 | Ren, Shunan(renshunan@gmail.com) |
| 摘要 | This paper presents an algorithm to optimize the base position of a mobile manipulator to meet the requirements of local painting tasks. Considering the physical limits and singularity of the manipulator, the feasible base positions are first discretely calculated with the given poses of the end effector by inverse kinematics. Then, the joint-level performance criteria are proposed with respect to the requirements of the painting process. The weight coefficients are also determined by the critic method to balance the contribution of every criterion. Thus, the globally near-optimal base position is selected by sorting all feasible positions according to the evaluation criteria. The experimental results show that the planning result is well executed and has an acceptable computation time, thus demonstrating that the algorithm is both practical and effective compared with previous methods. Note to Practitioners-Finding a proper base position is pivotal for achieving automatic offline planning for a manipulator mounted on a mobile platform. We present an algorithm that leads to an appropriate base position for the manipulator by which the manipulator could reach all the target points with specific orientations and keep a stable velocity of the end effector. This will greatly facilitate the offline planning for mobile manipulator systems such as the painting system implemented in this paper. With no need to manually participate in the algorithm implementation, operators can simply import the path-point data and obtain the optimized base position. The experimental results presented in this paper are encouraging in that the velocity of the end effector is more stable and the planning efficiency is highly increased. |
| 关键词 | Base position mobile manipulator offline planning optimization method spray painting |
| DOI | 10.1109/TASE.2016.2612694 |
| 关键词[WOS] | PERFORMANCE ; LOCATION ; ROBOTS |
| 收录类别 | SCI |
| 语种 | 英语 |
| 资助项目 | National Natural Science Foundation of China[61403226] ; National Natural Science Foundation of China[61403226] |
| 项目资助者 | National Natural Science Foundation of China |
| WOS研究方向 | Automation & Control Systems |
| WOS类目 | Automation & Control Systems |
| WOS记录号 | WOS:000391382700032 |
| 出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| 引用统计 | |
| 文献类型 | 期刊论文 |
| 条目标识符 | http://ir.ia.ac.cn/handle/173211/19551 |
| 专题 | 类脑智能研究中心 |
| 通讯作者 | Ren, Shunan |
| 作者单位 | 1.Chinese Acad Sci, Inst Automat, Beijing 100190, Peoples R China 2.AVIC Chengdu Aircraft Ind Grp Co Ltd, Chengdu 610092, Peoples R China 3.Tsinghua Univ, Dept Mech Engn, Beijing 100084, Peoples R China |
| 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 | Ren, Shunan,Xie, Ying,Yang, Xiangdong,et al. A Method for Optimizing the Base Position of Mobile Painting Manipulators[J]. IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING,2017,14(1):370-375. |
| APA | Ren, Shunan,Xie, Ying,Yang, Xiangdong,Xu, Jing,Wang, Guolei,&Chen, Ken.(2017).A Method for Optimizing the Base Position of Mobile Painting Manipulators.IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING,14(1),370-375. |
| MLA | Ren, Shunan,et al."A Method for Optimizing the Base Position of Mobile Painting Manipulators".IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING 14.1(2017):370-375. |
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| 07587376.pdf（966KB） | 期刊论文 | 作者接受稿 | 开放获取 | CC BY-NC-SA | 浏览 下载 | |
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