Structure Strategy Problem on a Redundant Manipulator
Structure strategy is discussed concerning kinematic geometry of manipulator structure, which is a strategy to synthesize motion of a redundant manipulator developed for the purpose of automation of maintenance tasks in complicated and restricted environments. The motion synthesis process is considered as a planning flow in several subsystems. Subsystems for several phases of planning are presented, which synthesize manipulator motion according to the task commands from human operators to be fulfilled as a whole. Subsystems consist of an element task planning system, a trajectory planning system, a performance evaluation system, and an environment model system which provides the environment information. An integrated manipulator motion synthesis system is proposed for synthetic planning of the manipulator motion. It includes a knowledge base describing experience and knowhow, and is linked with CAD/CAM or sensors providing design information, manufacturing information, and information about the states of objects and obstacles. Examples of structure strategy to plan the manipulator’s motion determining the redundant parameters’ motion are shown to verify the effectiveness of motion inference applying knowledge engineering.
KeywordsMaintenance Task Redundant Manipulator Element Task Motion Synthesis Maintenance Manipulator
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