Path planning of hyper-redundant manipulator in developed view

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F49777513%3A23520%2F18%3A43951466" target="_blank" >RIV/49777513:23520/18:43951466 - isvavai.cz</a>
Result on the web
<a href="https://ieeexplore.ieee.org/document/8399644" target="_blank" >https://ieeexplore.ieee.org/document/8399644</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/CarpathianCC.2018.8399644" target="_blank" >10.1109/CarpathianCC.2018.8399644</a>

Result language
angličtina
Original language name
Path planning of hyper-redundant manipulator in developed view
Original language description
The paper deals with the path planning of hyper-redundant manipulator as a part of NDT technology for circumferential welds on pipe with limited accessibility. Ability to move along the tested weld in very confined space is the major feature which is considered for NDT inspections. Documentation of such a weld and nearby environment typically contains a drawing with Developed view. Such a drawing is beneficially used as a basic input for path planner. The redundant degrees of freedom of manipulator are then used for optimization the robot body shape. The method for intuitive path planning in constrained environment was developed. It is based on obstacle definition via attractive and repulsive objects described in Developed view together with weighted least norm algorithm for robot body fitting around the pipe regarding obstacle avoidance. The proposed planning method and fitting algorithm were tested and proved via virtual robot model with 13 degrees of freedom.
Czech name
—
Czech description
—

Project
Result was created during the realization of more than one project. More information in the Projects tab.
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year
2018
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
19th International Carpathian Control Conference ICCC 2018
ISBN
978-1-5386-4762-2
ISSN
—
e-ISSN
—
Number of pages
6
Pages from-to
295-300
Publisher name
IEEE
Place of publication
New York
Event location
La Contessa Castle Hotel, Szilvásvárad, Hungary
Event date
May 28, 2018
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
000439260500056

Similar results(10)