Motion planning for gantry mounted manipulators: A ship-welding application example

Anders Lau Olsen, Henrik Gordon Petersen

Publikation: Bidrag til bog/antologi/rapport/konference-proceedingKonferencebidrag i proceedingsForskningpeer review

Resumé

Vi præsenterer en vejkort-baseret planlægningsalgoritme til
bestemmelse af robotbevægelser for gantry-monterede manipulatorer for
en svejseapplikation på Odense Stålskibsværft. Robotbevægelserne er
planlagt underlagt restriktioner for hvornår gantry-systemet må
bevæges. Vi viser, at tilfældig sampling af gantry-konfigurationer er
en brugbar teknik til at positionere manipulatoren og præsenterer en
beskæringsteknik til at kontrollere væksten i vejsystemet. Vi
diskuterer resultater fra simulering af systemet samt fra anvendelser
på stålskibsværftet, hvor en lignende planner nu er blevet
implementeret til produktionsbrug.

OriginalsprogEngelsk
TitelProceedings IEEE International Conference on Robotics and Automation
Antal sider5
ForlagIEEE
Publikationsdato2007
Sider4782-4786
ISBN (Elektronisk)1424406013
DOI
StatusUdgivet - 2007
BegivenhedIEEE International Conference on Robotics and Automation - IEEE, Italien
Varighed: 10. apr. 200714. apr. 2007

Konference

KonferenceIEEE International Conference on Robotics and Automation
LandItalien
ByIEEE
Periode10/04/200714/04/2007

Fingeraftryk

Shipyards
Motion planning
Manipulators
Ships
Welding
Robots

Citer dette

Olsen, A. L., & Petersen, H. G. (2007). Motion planning for gantry mounted manipulators: A ship-welding application example. I Proceedings IEEE International Conference on Robotics and Automation (s. 4782-4786). IEEE. https://doi.org/10.1109/ROBOT.2007.364216
Olsen, Anders Lau ; Petersen, Henrik Gordon. / Motion planning for gantry mounted manipulators : A ship-welding application example. Proceedings IEEE International Conference on Robotics and Automation. IEEE, 2007. s. 4782-4786
@inproceedings{68582f50e9e311dca4f8000ea68e967b,
title = "Motion planning for gantry mounted manipulators: A ship-welding application example",
abstract = "We present a roadmap based planner for finding robot motions forgantry mounted manipulators for a line welding application at OdenseSteel Shipyard (OSS). The robot motions are planned subject toconstraints on when the gantry may be moved. We show that randomsampling of gantry configurations is a viable technique forpositioning the manipulator and present a pruning technique formanaging the growth of the roadmap. We discuss results fromsimulations and from applications at the shipyard, where a similarplanner has now been implemented for production.",
author = "Olsen, {Anders Lau} and Petersen, {Henrik Gordon}",
year = "2007",
doi = "10.1109/ROBOT.2007.364216",
language = "English",
pages = "4782--4786",
booktitle = "Proceedings IEEE International Conference on Robotics and Automation",
publisher = "IEEE",
address = "United States",

}

Olsen, AL & Petersen, HG 2007, Motion planning for gantry mounted manipulators: A ship-welding application example. i Proceedings IEEE International Conference on Robotics and Automation. IEEE, s. 4782-4786, IEEE International Conference on Robotics and Automation, IEEE, Italien, 10/04/2007. https://doi.org/10.1109/ROBOT.2007.364216

Motion planning for gantry mounted manipulators : A ship-welding application example. / Olsen, Anders Lau; Petersen, Henrik Gordon.

Proceedings IEEE International Conference on Robotics and Automation. IEEE, 2007. s. 4782-4786.

Publikation: Bidrag til bog/antologi/rapport/konference-proceedingKonferencebidrag i proceedingsForskningpeer review

TY - GEN

T1 - Motion planning for gantry mounted manipulators

T2 - A ship-welding application example

AU - Olsen, Anders Lau

AU - Petersen, Henrik Gordon

PY - 2007

Y1 - 2007

N2 - We present a roadmap based planner for finding robot motions forgantry mounted manipulators for a line welding application at OdenseSteel Shipyard (OSS). The robot motions are planned subject toconstraints on when the gantry may be moved. We show that randomsampling of gantry configurations is a viable technique forpositioning the manipulator and present a pruning technique formanaging the growth of the roadmap. We discuss results fromsimulations and from applications at the shipyard, where a similarplanner has now been implemented for production.

AB - We present a roadmap based planner for finding robot motions forgantry mounted manipulators for a line welding application at OdenseSteel Shipyard (OSS). The robot motions are planned subject toconstraints on when the gantry may be moved. We show that randomsampling of gantry configurations is a viable technique forpositioning the manipulator and present a pruning technique formanaging the growth of the roadmap. We discuss results fromsimulations and from applications at the shipyard, where a similarplanner has now been implemented for production.

U2 - 10.1109/ROBOT.2007.364216

DO - 10.1109/ROBOT.2007.364216

M3 - Article in proceedings

SP - 4782

EP - 4786

BT - Proceedings IEEE International Conference on Robotics and Automation

PB - IEEE

ER -

Olsen AL, Petersen HG. Motion planning for gantry mounted manipulators: A ship-welding application example. I Proceedings IEEE International Conference on Robotics and Automation. IEEE. 2007. s. 4782-4786 https://doi.org/10.1109/ROBOT.2007.364216