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Planning Algorithms for Multi-Setup Multi-Pass Robotic Cleaning with Oscillatory Moving Tools

Published

Author(s)

Ariyan M. Kabir, Joshua D. Langsfeld, Shaurya Shriyam, Vinaichandra S. Rachakonda, Cunbo Zhuang, Krishnanand N. Kaipa, Jeremy Marvel, Satyandra K. Gupta

Abstract

We describe planning algorithms for cleaning stains on a curved object. Removing the stain may require multiple reorientations of the part and some portions of the stain may require multiple cleaning passes. The experimental setup involves two robot arms. The first arm immobilizes the object. The second arm moves the cleaning tool. The algorithm analyzes the stain and determines the sequence of orientations needed to clean the part based on the kinematic constraints of the robot arm. Each orientation is called a cleaning setup in this paper. Our algorithm uses a depth-first branch-and- bound search to generate setup plan solutions. We also compute the cleaning trajectories and select the cleaning parameters to maximize the cleaning performance. The algorithm generates multi-pass trajectories by replanning based on the observed cleaning performance. Numerical simulations and cleaning experiments with two Kuka robots are used to validate our approach.
Proceedings Title
Proceedings of the 12th Conference on Automation Science and Engineering (CASE)
Conference Dates
August 21-24, 2016
Conference Location
Fort Worth, TX, US

Keywords

Robotic cleaning, Compliant robot control, Trajectory planning

Citation

Kabir, A. , Langsfeld, J. , Shriyam, S. , Rachakonda, V. , Zhuang, C. , Kaipa, K. , Marvel, J. and Gupta, S. (2016), Planning Algorithms for Multi-Setup Multi-Pass Robotic Cleaning with Oscillatory Moving Tools, Proceedings of the 12th Conference on Automation Science and Engineering (CASE), Fort Worth, TX, US, [online], https://doi.org/10.1109/COASE.2016.7743478, https://tsapps.nist.gov/publication/get_pdf.cfm?pub_id=921093 (Accessed April 13, 2024)
Created November 16, 2016, Updated October 12, 2021