Multi-optimization Criteria-based Robot Behavioral Adaptability and Motion Planning [electronic resource].

Published: Washington, D.C. : United States. Dept. of Energy. Office of Environmental Management, 2002.
Oak Ridge, Tenn. : Distributed by the Office of Scientific and Technical Information, U.S. Dept. of Energy.
Physical Description: vp : digital, PDF file
Additional Creators: Oak Ridge National Laboratory, United States. Department of Energy. Office of Environmental Management, and United States. Department of Energy. Office of Scientific and Technical Information

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www.osti.gov

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Summary

Robotic tasks are typically defined in Task Space (e.g., the 3-D World), whereas robots are controlled in Joint Space (motors). The transformation from Task Space to Joint Space must consider the task objectives (e.g., high precision, strength optimization, torque optimization), the task constraints (e.g., obstacles, joint limits, non-holonomic constraints, contact or tool task constraints), and the robot kinematics configuration (e.g., tools, type of joints, mobile platform, manipulator, modular additions, locked joints). Commercially available robots are optimized for a specific set of tasks, objectives and constraints and, therefore, their control codes are extremely specific to a particular set of conditions. Thus, there exist a multiplicity of codes, each handling a particular set of conditions, but none suitable for use on robots with widely varying tasks, objectives, constraints, or environments. On the other hand, most DOE missions and tasks are typically ''batches of one''. Attempting to use commercial codes for such work requires significant personnel and schedule costs for re-programming or adding code to the robots whenever a change in task objective, robot configuration, number and type of constraint, etc. occurs. The objective of our project is to develop a ''generic code'' to implement this Task-space to Joint-Space transformation that would allow robot behavior adaptation, in real time (at loop rate), to changes in task objectives, number and type of constraints, modes of controls, kinematics configuration (e.g., new tools, added module). Our specific goal is to develop a single code for the general solution of under-specified systems of algebraic equations that is suitable for solving the inverse kinematics of robots, is useable for all types of robots (mobile robots, manipulators, mobile manipulators, etc.) with no limitation on the number of joints and the number of controlled Task-Space variables, can adapt to real time changes in number and type of constraints and in task objectives, and can adapt to changes in kinematics configurations (change of module, change of tool, joint failure adaptation, etc.).

Report Numbers

E 1.99:emsp-82794-2002
emsp-82794-2002

Subject(s)

Other Subject(s)

Note

Published through SciTech Connect.
06/01/2002.
"emsp-82794-2002"
Pin, Francois G.

Type of Report and Period Covered Note

Annual; 10/01/2001 - 09/01/2002

Funding Information

EMSP 82794

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