Path planning of hyper-redundant manipulator in developed view
Identifikátory výsledku
Kód výsledku v 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>
Výsledek na webu
<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>
Alternativní jazyky
Jazyk výsledku
angličtina
Název v původním jazyce
Path planning of hyper-redundant manipulator in developed view
Popis výsledku v původním jazyce
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.
Název v anglickém jazyce
Path planning of hyper-redundant manipulator in developed view
Popis výsledku anglicky
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.
Klasifikace
Druh
D - Stať ve sborníku
CEP obor
—
OECD FORD obor
20204 - Robotics and automatic control
Návaznosti výsledku
Projekt
Výsledek vznikl pri realizaci vícero projektů. Více informací v záložce Projekty.
Návaznosti
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Ostatní
Rok uplatnění
2018
Kód důvěrnosti údajů
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Údaje specifické pro druh výsledku
Název statě ve sborníku
19th International Carpathian Control Conference ICCC 2018
ISBN
978-1-5386-4762-2
ISSN
—
e-ISSN
—
Počet stran výsledku
6
Strana od-do
295-300
Název nakladatele
IEEE
Místo vydání
New York
Místo konání akce
La Contessa Castle Hotel, Szilvásvárad, Hungary
Datum konání akce
28. 5. 2018
Typ akce podle státní příslušnosti
WRD - Celosvětová akce
Kód UT WoS článku
000439260500056