Abstract
This paper presents a flexible robotic path-
planning framework for complex industrial processes. The
framework considers the process properties, including process
tolerances and windows, constraints, and redundant degrees
of freedom. By considering the process properties in an
optimization-based approach, challenging path-planning prob-
lems can be solved which exceed the capabilities of state-of-
the-art path planners. The effectiveness of the path planner is
validated through two different scenarios: a drawing process
and a spraying process. The results demonstrate the ability of
the proposed framework to generate feasible trajectories for
executing complex industrial processes.
planning framework for complex industrial processes. The
framework considers the process properties, including process
tolerances and windows, constraints, and redundant degrees
of freedom. By considering the process properties in an
optimization-based approach, challenging path-planning prob-
lems can be solved which exceed the capabilities of state-of-
the-art path planners. The effectiveness of the path planner is
validated through two different scenarios: a drawing process
and a spraying process. The results demonstrate the ability of
the proposed framework to generate feasible trajectories for
executing complex industrial processes.
| Originalsprache | Englisch |
|---|---|
| Titel | Proceedings of the IROS Workshop on Task and Motion Planning: From Theory to Practice |
| Seiten | 1-3 |
| Publikationsstatus | Veröffentlicht - Okt. 2023 |
| Veranstaltung | 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) - Detroit, USA/Vereinigte Staaten Dauer: 1 Okt. 2023 → 5 Okt. 2023 |
Konferenz
| Konferenz | 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) |
|---|---|
| Land/Gebiet | USA/Vereinigte Staaten |
| Stadt | Detroit |
| Zeitraum | 1/10/23 → 5/10/23 |
Research Field
- Complex Dynamical Systems