Cellular Decomposition for Nonrepetitive Coverage Task with Minimum Discontinuities

Yang, T; Miro, JV; Lai, Q; Wang, Y; Xiong, R

Cellular Decomposition for Nonrepetitive Coverage Task with Minimum Discontinuities

Yang, T Miro, JV Lai, Q Wang, Y Xiong, R

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Publisher:: IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Publication Type:: Conference Proceeding
Citation:: IEEE/ASME Transactions on Mechatronics, 2020, 25, (4), pp. 1698-1708
Issue Date:: 2020-08-01

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Field	Value	Language
dc.contributor.author	Yang, T
dc.contributor.author	Miro, JV
dc.contributor.author	Lai, Q
dc.contributor.author	Wang, Y
dc.contributor.author	Xiong, R
dc.date	2020-07
dc.date.accessioned	2021-04-28T06:29:01Z
dc.date.available	2021-04-28T06:29:01Z
dc.date.issued	2020-08-01
dc.identifier.citation	IEEE/ASME Transactions on Mechatronics, 2020, 25, (4), pp. 1698-1708
dc.identifier.issn	1083-4435
dc.identifier.issn	1941-014X
dc.identifier.uri	http://hdl.handle.net/10453/148470
dc.description.abstract	A mechanism to derive nonrepetitive coverage path solutions with a proven minimal number of discontinuities is proposed in this work, with the aim to avoid unnecessary, costly end-effector lift-offs for manipulators. The problem is motivated by the automatic polishing of an object. Due to the nonbijective mapping between the workspace and the joint-space, a continuous coverage path in the workspace may easily be truncated in the joint-space, incurring undesirable end-effector lift-offs. Inversely, there may be multiple configuration choices to cover the same point of a coverage path through the solution of the inverse kinematics. The solution departs from the conventional local optimization of the coverage path shape in task space, or choosing appropriate but possibly disconnected configurations, to instead explicitly explore the least number of discontinuous motions through the analysis of the structure of valid configurations in joint-space. The two novel contributions of this article include proof that the least number of path discontinuities is predicated on the surrounding environment, independent from the choice of the actual coverage path; thus, has a minimum. In addition, an efficient finite cellular decomposition method to optimally divide the workspace into the minimum number of cells, each traversable without discontinuities by any arbitrary coverage path within. Extensive simulation examples and real-world results on a 5 DoF manipulator are presented to prove the validity of the proposed strategy in realistic settings.
dc.language	en
dc.publisher	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
dc.relation.ispartof	IEEE/ASME Transactions on Mechatronics
dc.relation.ispartof	IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)
dc.relation.isbasedon	10.1109/TMECH.2020.2992685
dc.rights	info:eu-repo/semantics/embargoedAccess
dc.subject	0906 Electrical and Electronic Engineering, 0910 Manufacturing Engineering, 0913 Mechanical Engineering
dc.subject.classification	Industrial Engineering & Automation
dc.title	Cellular Decomposition for Nonrepetitive Coverage Task with Minimum Discontinuities
dc.type	Conference Proceeding
utslib.citation.volume	25
utslib.location.activity	ELECTR NETWORK
utslib.for	0906 Electrical and Electronic Engineering
utslib.for	0910 Manufacturing Engineering
utslib.for	0913 Mechanical Engineering
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Strength - CAS - Centre for Autonomous Systems
utslib.copyright.status	open_access	*
utslib.copyright.embargo	2022-08-31T00:00:00+1000Z
dc.date.updated	2021-04-28T06:28:59Z
pubs.issue	4
pubs.publication-status	Published
pubs.start-date	2020-07
pubs.volume	25
utslib.citation.issue	4

Abstract:

A mechanism to derive nonrepetitive coverage path solutions with a proven minimal number of discontinuities is proposed in this work, with the aim to avoid unnecessary, costly end-effector lift-offs for manipulators. The problem is motivated by the automatic polishing of an object. Due to the nonbijective mapping between the workspace and the joint-space, a continuous coverage path in the workspace may easily be truncated in the joint-space, incurring undesirable end-effector lift-offs. Inversely, there may be multiple configuration choices to cover the same point of a coverage path through the solution of the inverse kinematics. The solution departs from the conventional local optimization of the coverage path shape in task space, or choosing appropriate but possibly disconnected configurations, to instead explicitly explore the least number of discontinuous motions through the analysis of the structure of valid configurations in joint-space. The two novel contributions of this article include proof that the least number of path discontinuities is predicated on the surrounding environment, independent from the choice of the actual coverage path; thus, has a minimum. In addition, an efficient finite cellular decomposition method to optimally divide the workspace into the minimum number of cells, each traversable without discontinuities by any arbitrary coverage path within. Extensive simulation examples and real-world results on a 5 DoF manipulator are presented to prove the validity of the proposed strategy in realistic settings.

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http://hdl.handle.net/10453/148470