DocumentCode :
2268289
Title :
Hazardous workspace modeling for manipulators using spatial hazard functions
Author :
O´Neil, B. ; Brabec, C. ; Pryor, M.
Author_Institution :
Nucl. Robot. Group, Univ. of Texas at Austin, Austin, TX, USA
fYear :
2012
fDate :
5-8 Nov. 2012
Firstpage :
1
Lastpage :
6
Abstract :
This paper describes an approach to motion planning that includes hazards individually characterized as continuous functions of space. These functions contribute to a complex and discontinuous yet practical representation of the hazards found in a manipulator´s workspace. The hazard model is a smoothed and scaled representation of the actual physical hazard sampled discretely over the robot´s workspace. This research is primarily motivated to reduce damage to manipulators working in high-radiation environments, but is easily extended to other spatial hazards including heat sources, overlapping workspaces, etc. The gradient of the hazard function is used to generate a force that can be included by an artificial potential field motion planner easing its integration with other existing techniques used for obstacle avoidance, target acquisition, etc. The motion planner additionally scales the robot´s velocity in proportion to the magnitude of the hazard model and determines the path. This results in a motion influenced in the direction of greatest hazard reduction at a speed that reduces the time the robot is subject to abnormally high hazard. These techniques are demonstrated on a port-deployed glovebox manipulator in a simulated hazardous environment. Over the course of a demonstration task, the radiation exposure to the robot is reduced by over 50%.
Keywords :
collision avoidance; hazardous areas; industrial manipulators; radiation effects; artificial potential field motion planner; continuous space functions; hazard model; hazard reduction; hazardous workspace modeling; heat sources; high-radiation environments; manipulator workspace; motion planner; motion planning approach; obstacle avoidance; port-deployed glovebox manipulator; radiation exposure; robot velocity; scaled representation; simulated hazardous environment; spatial hazard functions; target acquisition;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Safety, Security, and Rescue Robotics (SSRR), 2012 IEEE International Symposium on
Conference_Location :
College Station, TX
Print_ISBN :
978-1-4799-0164-7
Type :
conf
DOI :
10.1109/SSRR.2012.6523880
Filename :
6523880
Link To Document :
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