Motion design for service robots

Authors:
Elias Xidias;Nikos A. Aspragathos;Philip Azariadis
Affiliations:
Department of Product and Systems Design Engineering, University of the Aegean, Syros, Greece;Department of Mechanical Engineering & Aeronautics, University of Patras, Greece;Department of Product and Systems Design Engineering, University of the Aegean, Syros, Greece
Venue:
ICIRA'11 Proceedings of the 4th international conference on Intelligent Robotics and Applications - Volume Part I
Year:
2011

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Abstract

This paper considers the motion design problem for a service robot which is moving and manipulating objects in a partly known indoor environment such as stores and libraries. A service robot is requested to serve a set of work-stations in the environment providing transport and delivery tasks. The objective is to determine the optimum sequence of the work-stations visited by the service robot exactly once assuring that the robot's path through the work-station is collision free. In addition, a time optimal algorithm is presented for motion planning of the manipulator for pick and place objects at the work-stations. Simulation examples are presented to show the effectiveness of the proposed approach.