Trajectory planning is a fundamental problem for industrial robots. It is particularly challenging for robot manipulators that transfer silicon wafers in an equipment front end module (EFEM) of a semiconductor manufacturing machine where the work space is extremely limited. Existing methods cannot give satisfactory performance since they usually solve the problem partially. Motivated by this demand in industrial applications and to solve all aspects of the problem, this paper proposes to learn the work environment beforehand by probabilistic roadmap (PRM) method for collision avoidance. The cycle time preference and the robot kinematic hard constraints are considered properly. A constrained optimization problem is formulated with the shortest path searched from the roadmap and parametrized by a cubic B-spline curve, which simplifies the optimization process.
Issue Section:
Research Papers
References
1.
Hsu
, D.
, Sanchez-Ante
, G.
, and Sun
, Z.
, 2005
, “Hybrid PRM Sampling With a Cost-Sensitive Adaptive Strategy
,” Proceedings of the IEEE International Conference on Robotics and Automation
, pp. 3874–3880.2.
Kavralu
, L. E.
, Svestka
, P.
, Latombe
, J.-C.
, and Overmars
, M. H.
, 1996
, “Probabilistic Roadmaps for Path Planning in High-Dimensional Configuration Spaces
,” IEEE Trans. Rob. Autom.
, 12
(4
), pp. 566–580.3.
Kavraki
, L. E.
, Kolountzakis
, M. N.
, and Latombe
, J.-C.
, 1998
, “Analysis of Probabilistic Roadmaps for Path Planning
,” IEEE Trans. Rob. Autom.
, 14
(1
), pp. 166–171.4.
Ratliff
, N.
, Zucker
, M.
, Bagnell
, J. A.
, and Srinivasa
, S.
, 2009
, “CHOMP: Gradient Optimization Techniques for Efficient Motion Planning
,” IEEE International Conference on Robotics and Automation
, pp. 489–494.5.
Park
, C.
, Pan
, J.
, and Manocha
, D.
, 2012
, “ITOMP: Incremental Trajectory Optimization for Real-Time Replanning in Dynamic Environments
,” International Conference on Automated Planning and Scheduling
, Sao Paulo, Brazil, June 25–29.6.
Hauser
, K.
, and Ng-Thow-Hing
, V.
, 2010
, “Fast Smoothing of Manipulator Trajectories Using Optimal Bounded-Acceleration Shortcuts
,” IEEE International Conference on Robotics and Automation
, pp. 2493–2498.7.
Gasparetto
, A.
, and Zanotto
, V.
, 2007
, “A New Method for Smooth Trajectory Planning of Robot Manipulators
,” Mech. Mach. Theory
, 42
(4
), pp. 455
–471
.8.
Wang
, C.-H.
, and Horng
, J.-G.
, 1990
, “Constrained Minimum-Time Path Planning for Robot Manipulators Via Virtual Knots of the Cubic B-Spline Functions
,” IEEE Trans. Autom. Control
, 35
(5
), pp. 573–577.9.
Lepetič
, M.
, Klančar
, G.
, Škrjanc
, I.
, Matko
, D.
, and Potočnik
, B.
, 2003
, “Time Optimal Path Planning Considering Acceleration Limits
,” Rob. Auton. Syst.
, 45
(3–4
), pp. 199
–210
.10.
Judd
, K. B.
, and McLain
, T. W.
, 2001
, “Spline Based Path Planning for Unmanned Air Vehicles
,” AIAA Guidance, Navigation, and Control Conference and Exhibit, Guidance, Navigation, and Control and Co-located Conferences
, Montreal, QB, Canada, Aug. 6–9.11.
Cao
, B.
, Doods
, G. I.
, and Irwin
, G. W.
, 1994
, “Time-Optimal and Smooth Constrained Path Planning for Robot Manipulators
,” IEEE International Conference on Robotics and Automation
, Vol. 3, pp. 1853–1858.12.
LaValle
, S. M.
, 2006, Planning Algorithms
, J. O'Kane, ed., Cambridge University Press
, New York.13.
Bobrow
, J. E.
, Dubowsky
, S.
, and Gibson
, J. S.
, 1985
, “Time-Optimal Control of Robotic Manipulators Along Specified Paths
,” Int. J. Rob. Res.
, 4
(3
), pp. 3–17.14.
Chen
, Y.-C.
, 1991
, “Solving Robot Trajectory Planning Problems With Uniform Cubic B-Splines
,” Optim. Control Appl. Methods
, 12
(4
), pp. 247
–262
.15.
Zanotto
, V.
, Gasparetto
, A.
, Lanzutti
, A.
, Boscariol
, P.
, and Vidoni
, R.
, 2011
, “Experimental Validation of Minimum Time-Jerk Algorithms for Industrial Robots
,” J. Intell. Rob. Syst.
, 64
(2
), pp. 197
–219
.16.
Choset
, H.
, Lynch
, K.
, Hutchinson
, S.
, Kantor
, G.
, Burgard
, W.
, Kavraki
, L.
, and Thrun
, S.
, 2005, Principles of Robot Motion: Theory, Algorithms, and Implementations (Intelligent Robotics and Autonomous Agents series)
, A Bradford Book, The MIT Press
, Cambridge, MA
.17.
Kim
, J.-T.
, and Kim
, D.
, 2014
, “Manipulator Motion Planning With Unconstrained End effector Under Obstacle Environment
,” Adv. Rob.
, 28
(8
), pp. 533
–544
.18.
Hwang
, Y. K.
, Watterberg
, P. A.
, Chen
, P. C.
, and Lewis
, C. L.
, 1991
, General Techniques for Constrained Motion Planning
, Educational Testing Service
, Princeton, NJ
.19.
Capisani
, L. M.
, Facchinetti
, T.
,Ferrara
, A.
, and Martinelli
, A.
, 2013
, “Obstacle Modelling Oriented to Safe Motion Planning and Control for Planar Rigid Robot Manipulators
,” J. Intell. Rob. Syst.
, 71
(2
), pp. 159
–178
.20.
Gasparetto
, A.
, and Zanotto
, V.
, 2008
, “A Technique for Time-Jerk Optimal Planning of Robot Trajectories
,” Rob. Comput.-Integr. Manuf.
, 24
(3
), pp. 415
–426
.21.
Luenberger
, D. G.
, and Ye
, Y.
, 2008, Linear and Nonlinear Programming
, 3rd ed., Springer-Verlag
, US, New York.22.
Larsen
, E.
, Gottschalk
, S.
, Lin
, M. C.
, and Manocha
, D.
, 1999, “Fast Proximity Queries With Swept Sphere Volumes
,” Department of Computer Science, UNC Chapel Hill, Technical Report No. TR99-018
.Copyright © 2017 by ASME
You do not currently have access to this content.
