Motion Planning and Control of Robot Manipulators

Oppgavens tittel (norsk): Bevegelsesplanlegging og regulering av robotmanipulatorer Oppgavens tittel (engelsk): Motion planning and control of robot manipulators Bakgrunn: Robot motion planning systems can be used to plan collision-free paths between start and end robot manipulator configurations. Many motion planners assume that the robot manipulator works in a static environment. However, many situations (such as e.g. working close to humans) require that the robot can account for dynamic environments. A motion planner with online-planning capabilities is the topic of this thesis assignment. Tasks: 1. Perform a literature survey on  State-of-the-art sample-based and feedback-based motion planning techniques.  Pay particular attention to relevant aspects of the methods proposed by [1], [2] and [3]. NTNU Norges teknisk-naturvitenskapelige universitet 2. Develop an online motion planner for robot manipulators as a combined approach based on [1], [2] and [3]. Employ the methods from [1] and [3] for offline processing and online collision checking. Employ the methods from [2] for online motion control with task constraints. 3. Implement the motion planner in simulation for a Schunk LWA robot manipulator arm. 4. Analyse the behaviour and performance of the implemented system.  Create a test suite which demonstrates key functionality of the motion planner. Elastic roadmaps – motion generation for autonomous mobile manipulation " , Autonomous Robots 28, 2010. [3] P. Leven and S. Hutchinson, "A framework for real-time path planning in changing environments", The international journal of robotics research, 2002. Abstract When a robot performs a task in an unstructured dynamic environment, it has to account for many factors. It should not only keep the track of where it is and how it should move, but also ensure that the kinematic, dynamic and task specific limitations are observed. It is also important that the robot can effectively avoid collisions with static and moving obstacles. In the current thesis we present design and implementation of an algorithm capable to face all these challenges. The system combines principles of dynamic roadmaps and elastic roadmaps frameworks, both of which are the state-of-art approaches to motion planning problem. The suggested solution is presented in the context of a broad overview of the literature in motion planning domain focusing on methodology of sample-based and feedback planning in dynamic environments. The implemented algorithm is applied to a 7-degree-of-freedom manipulator and is demonstrated and analyzed through a variety of simulated test scenarios. The result is an extensible and future-oriented planning system …