Continuous collision detection of pairs of robot motions under velocity uncertainty
Artikel i vetenskaplig tidskrift, 2021

In automotive manufacturing, production systems typically involve multiple robots and today are being individualized by utilizing the concept of digital twins. Therefore, the robot programs need to be verified for each individual product. A crucial aspect is to avoid collisions between robots by velocity tuning: this involves an efficient analysis of pairs of robot paths and determining if swept volumes of (sub) paths are disjoint. In general, velocity uncertain motions require disjoint sweep volumes to be safe. We optimize a clearance lower bounding function to provide new sample points for clearance computations. Due to the computational cost of each distance query, our sampling strategy aims to maximize the information gained at each query. The algorithm terminates when robot paths are verified to be disjoint or a collision is detected. Our approach for disjoint paths is inspired by the technique for continuous collision detection known as \textit{conservative advancement}. Our tests indicate that the proposed sampling method is reliable and computationally much faster than creating and intersecting octrees representing the swept volumes.

Motion and Path Planning

Multi-Robot Systems

Continuous Collision Detection

Computational Geometry

Författare

Edvin Åblad

Stiftelsen Fraunhofer-Chalmers Centrum för Industrimatematik

Chalmers, Matematiska vetenskaper, Tillämpad matematik och statistik

Domenico Spensieri

Stiftelsen Fraunhofer-Chalmers Centrum för Industrimatematik

Chalmers, Industri- och materialvetenskap, Produktutveckling

Robert Bohlin

Stiftelsen Fraunhofer-Chalmers Centrum för Industrimatematik

Ann-Brith Strömberg

Chalmers, Matematiska vetenskaper, Tillämpad matematik och statistik

IEEE Transactions on Robotics

1552-3098 (ISSN)

Smart Assembly 4.0

Stiftelsen för Strategisk forskning (SSF), 2016-05-01 -- 2021-06-30.

Ämneskategorier

Produktionsteknik, arbetsvetenskap och ergonomi

Beräkningsmatematik

Robotteknik och automation

Drivkrafter

Hållbar utveckling

Styrkeområden

Produktion

DOI

10.1109/TRO.2021.3050011

Mer information

Senast uppdaterat

2021-01-08