The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
Welding joints for offshore oil rigs present a complicated geometry and require multiple passes. This paper introduces a complete collision-free offline path planning approach for such joints. Collision detection is performed using A* search on a three dimensional grid, where triangular mesh representations of the welding joint and its fixture form the objects. A workflow is proposed for the complete...
With the trend of increasing human robot collaboration, the need for more advanced safety systems arises. To create safe robots that act proactive to dangers, a safety system based on risk analysis has been developed. This paper presents a vital part of the risk analysis, the likelihood analysis,. In this likelihood analysis, data about human activity is recorded based on its occupied space. The times...
The paper deals with the problem of designing an RRT*-based planning algorithm that allows the user to guide the tree growth in a simple and transparent way. The key idea of the proposal is to create a planning algorithm, called HG-RRT*, that minimizes an optimization function over the configuration space where a state cost function is established. This state cost is defined as the combination of...
This work deals with the problem of motion planning for a robotic system with two arms, considering the possibility of using one arm to remove potential obstacles in order to get a collision-free path to reach a desired object with the other arm. The paper compares different motion planning algorithms based on random sampling methods. In the used framework the planners do not discard the samples that...
A general procedure for collision detection between an industrial robot and the environment is proposed in this paper. The procedure does not use any external sensor, and does not rely on any particular information about the specific robot on which it is applied, so that it can be easily implemented in the software architecture of different manipulators without any customization. Experimental results...
The paper illustrates the research activity of a joint research laboratory, established by COMAU and Politecnico di Torino, named “RoboLAB”, and devoted to industrial robotics issues. The lab facilitates a stable cooperation between the academic and industrial partners, leading to satisfying results both from the scientific and the technological point of view. The paper illustrates in particular the...
In this paper, a fast reactive obstacle avoidance approach for omnidirectional driving is presented. The method is based on the dynamic window approach, but uses a cuboid instead of a window to limit the 3-dimensional search space accordingly to the dynamic constraints of the robot. Besides the kinematics and dynamics, the presented approach also considers the shape of a robot. To cope with the effort...
For safe human-robot interaction and co-existence, collision avoidance is a fundamental prerequisite. Therefore, in this contribution a Nonlinear Model Predictive Control approach for fixed-base and mobile manipulators is presented that allows for avoiding self-collisions and collisions with static and dynamic obstacles while performing tasks defined in the Cartesian space. The collision avoidance...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.