非冗余机械手最小不连续的非重访覆盖任务

Tong Yang, J. V. Miró, Yue Wang, R. Xiong
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引用次数: 2

摘要

本文提出了具有非冗余机械臂的任意形状物体的最优非重访覆盖路径规划问题的理论完整解。给定可行和连续机械臂构型对应的表面单元拓扑图,该方案旨在确保表面不连续数的最优性,并将现有的单连通构型单元拓扑的可证明解扩展到任意形状。这通常是通过它们的种类或“孔”的数量来分类的,随着配置进一步受到手头任务的额外指标的限制,例如可操作性阈值,与障碍物的间隙,末端执行器方向,工装力/扭矩大小等。本文的新颖之处在于,无论这些质量单元约束的结果拓扑形状是什么,图都是有限可解的,并且设计了一个多阶段迭代求解器来找到所有这些最优解。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Non-revisiting Coverage Task with Minimal Discontinuities for Non-redundant Manipulators
—A theoretically complete solution to the optimal Non-revisiting Coverage Path Planning (NCPP) problem of any arbitrarily-shaped object with a non-redundant manipulator is proposed in this work. Given topological graphs of surface cells corresponding to feasible and continuous manipulator configura- tions, the scheme is aimed at ensuring optimality with respect to the number of surface discontinuities, and extends the existing provable solution attained for simply-connected configuration cell topologies to any arbitrary shape. This is typically classified through their genus, or the number of “holes” which appear increasingly as configurations are further constrained with the introduction of additional metrics for the task at hand, e.g. manipulability thresholds, clearance from obstacles, end-effector orientations, tooling force/torque magnitudes, etc. The novel contribution of this paper is to show that no matter what the resulting topological shapes from such quality cell constraints may be, the graph is finitely solvable, and a multi- stage iterative solver is designed to find all such optimal solutions.
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