SurfMan: Generating Smooth End-Effector Trajectories on 3D Object Surfaces for Human-Demonstrated Pattern Sequence

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21730%2F22%3A00358896" target="_blank" >RIV/68407700:21730/22:00358896 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.1109/LRA.2022.3189178" target="_blank" >https://doi.org/10.1109/LRA.2022.3189178</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/LRA.2022.3189178" target="_blank" >10.1109/LRA.2022.3189178</a>

Result language
angličtina
Original language name
SurfMan: Generating Smooth End-Effector Trajectories on 3D Object Surfaces for Human-Demonstrated Pattern Sequence
Original language description
Specifying robot tasks for low-volume manufacturing scenarios is an open problem. The state-of-the-art robotic systems enable the application of smooth 2D paths to a 3D surface but assume that the product engineer provides these paths. We extend this approach with a novel tool-path specification method, which produces smooth paths from noisy demonstrations. The user demonstrates only short patterns and selects a base path relative to an object in front of the robot, along which these patterns should be applied. The representation based on polynomials allows controlling the grade of the smoothness of the resulting tool path. We generate parametrized robot trajectories to meet the use-case-specific constraints and adhere to the robot’s kinodynamic limits. We propose a set of measures to evaluate the quality of the generated curves and corresponding trajectories with respect to executability by a robot. The evaluation in simulation and real-robot experiments showed that the robot could reach up to 15.9% higher constant speed on tool paths generated by our system compared to unprocessed paths.
Czech name
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Czech description
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Type
J<sub>imp</sub> - Article in a specialist periodical, which is included in the Web of Science database
CEP classification
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OECD FORD branch
10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

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
2022
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

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