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

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

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

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

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

Popis výsledku anglicky

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.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

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)

Rok uplatnění

2022

Kód důvěrnosti údajů

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

Název periodika

IEEE Robotics and Automation Letters

ISSN

2377-3766

e-ISSN

2377-3766

Svazek periodika

7

Číslo periodika v rámci svazku

4

Stát vydavatele periodika

US - Spojené státy americké

Počet stran výsledku

8

Strana od-do

9183-9190

Kód UT WoS článku

000830009100010

EID výsledku v databázi Scopus

2-s2.0-85134258185