NDLI: Planning collision-free and occlusion-free paths for industrial manipulators with eye-to-hand configuration

Content Provider	IEEE Xplore Digital Library
Author	Leonard, S. Croft, E.A. Little, J.J.
Copyright Year	2009
Description	Author affiliation: Department of Computer Science, The University of British Columbia, Canada (Little, J.J.) \|\| Department of Mechanical Engineering, The University of British Columbia, Canada (Leonard, S.; Croft, E.A.)
Abstract	This paper presents a motion planning algorithm for industrial manipulators with the simultaneous constraints of avoiding collisions and avoiding the occlusion of specified pixellated regions of an eye-to-hand camera. The system uses a probabilistic roadmap to satisfy the constraints imposed by the command interface of typical industrial manipulators and uses dynamic collision checking to ensure collision-free motion. In the context of a task monitored by a camera, we enhance a probabilistic roadmap with a dynamic occlusion checking algorithm that is able to determine which pixels of the camera are occluded by the robot during each motion segment. The occlusion algorithm is formulated as collision algorithm where the field of view of the camera is represented as a quadtree of frustums. The proposed algorithm is demonstrated in industrial bin picking simulations where the gripper must not occlude the targeted object throughout the task.
Starting Page	5083
Ending Page	5088
File Size	452852
Page Count	6
File Format	PDF
ISBN	9781424438037
DOI	10.1109/IROS.2009.5354019
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-10-10
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Path planning Service robots Robot vision systems Robot sensing systems Cameras Manipulator dynamics Visual servoing Road accidents Electrical equipment industry Motion planning
Content Type	Text
Resource Type	Article

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