Publications / 2018 Proceedings of the 35th ISARC, Berlin, Germany

Trajectory Planning of Forces and Arm Tips for Tumbling Operation by Two Arms

Takahiro Kitazawa and Masamitsu Kurisu
Pages 840-845 (2018 Proceedings of the 35th ISARC, Berlin, Germany, ISBN 978-3-00-060855-1, ISSN 2413-5844)
Abstract:

Rock-wise objects made after natural disasters must be removed by construction machines which are maneuvered by human beings. In that case, from the viewpoint of preventing a secondary disaster, the construction machines are preferable to carry out the task autonomously or by remote operation. We take aim at autonomous tumbling operation by a mobile robot with dual arms to move a rock-wise object. In previous study, a path planning algorithm for an object in tumbling operations had been presented. The order of the selected ridge line determines the path of the object. Next, trajectory planning of forces and arm tips of the robot is necessary for autonomous motion. In this paper, we present a method for determining the combination of action points by analyzing the tumbling operation. First, we derive relational expressions of force for the rotational motion of the object. Conditional expressions are set for making stable operation. Then, the problem is solved as a nonlinear optimization problem by evaluation function of force. The constructed algorithm derives optimal trajectory planning of forces and arm tips. Finally, the usefulness of the algorithm is shown by a numerical example.

Keywords: Tumbling operation, Nonlinear optimization, Trajectory planning, Algorithm,