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

Anders Lau Olsen, Henrik Gordon Petersen

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

Abstract

We present a roadmap based planner for finding robot motions for
gantry mounted manipulators for a line welding application at Odense
Steel Shipyard (OSS). The robot motions are planned subject to
constraints on when the gantry may be moved. We show that random
sampling of gantry configurations is a viable technique for
positioning the manipulator and present a pruning technique for
managing the growth of the roadmap. We discuss results from
simulations and from applications at the shipyard, where a similar
planner has now been implemented for production.

Original languageEnglish
Title of host publicationProceedings IEEE International Conference on Robotics and Automation
Number of pages5
PublisherIEEE
Publication date2007
Pages4782-4786
ISBN (Electronic)1424406013
DOIs
Publication statusPublished - 2007
EventIEEE International Conference on Robotics and Automation - IEEE, Italy
Duration: 10. Apr 200714. Apr 2007

Conference

ConferenceIEEE International Conference on Robotics and Automation
CountryItaly
CityIEEE
Period10/04/200714/04/2007

Fingerprint

Shipyards
Motion planning
Manipulators
Ships
Welding
Robots

Cite this

Olsen, A. L., & Petersen, H. G. (2007). Motion planning for gantry mounted manipulators: A ship-welding application example. In Proceedings IEEE International Conference on Robotics and Automation (pp. 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. pp. 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. in Proceedings IEEE International Conference on Robotics and Automation. IEEE, pp. 4782-4786, IEEE International Conference on Robotics and Automation, IEEE, Italy, 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. p. 4782-4786.

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-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. In Proceedings IEEE International Conference on Robotics and Automation. IEEE. 2007. p. 4782-4786 https://doi.org/10.1109/ROBOT.2007.364216