PRM Based Motion Planning for Sequencing of Remote Laser Processing Tasks

Sigurd Lazic Villumsen; Morten Kristiansen

doi:10.1016/j.promfg.2017.07.109

PRM Based Motion Planning for Sequencing of Remote Laser Processing Tasks

Sigurd Lazic Villumsen^*, Morten Kristiansen

^*Corresponding author for this work

Research output: Contribution to journal › Conference article in Journal › Research › peer-review

2 Citations (Scopus)

191 Downloads (Pure)

Abstract

The mechanical system used for remote laser processing can contain as much as 9 degrees of freedom (DOF). In this paper, a sample based motion planning algorithm for such remote laser processing equipment is presented. By construction robot configurations through a sampling strategy redundancy is inherently taken into account and the path is ensured to comply with laser processing constraints. A test showed that the algorithm was capable of finding 1277/1280 possible paths in 2000 iterations for a 9 DOF mechanical system. These 1277 paths were represented in matrix form which can be used for sequencing of laser processing tasks.

Original language	English
Journal	Procedia Manufacturing
Volume	11
Pages (from-to)	300-310
Number of pages	11
ISSN	2351-9789
DOIs	https://doi.org/10.1016/j.promfg.2017.07.109
Publication status	Published - 2017
Event	16th Nordic Laser Materials Processing Conference, NOLAMP16 - Aalborg University, Aalborg, Denmark Duration: 22 Aug 2017 → 24 Aug 2017 http://www.nolamp16.aau.dk/

Conference

Conference	16th Nordic Laser Materials Processing Conference, NOLAMP16
Location	Aalborg University
Country/Territory	Denmark
City	Aalborg
Period	22/08/2017 → 24/08/2017
Internet address	http://www.nolamp16.aau.dk/

Keywords

Motion planning
Path planning
Production planning
Redundancy
Remote laser cutting
Remote laser welding
Robotics
Scheduling

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10.1016/j.promfg.2017.07.109Licence: CC BY-NC-ND 4.0

Open Access articleFinal published version, 11 MBLicence: CC BY-NC-ND 4.0

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Cite this

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title = "PRM Based Motion Planning for Sequencing of Remote Laser Processing Tasks",

abstract = "The mechanical system used for remote laser processing can contain as much as 9 degrees of freedom (DOF). In this paper, a sample based motion planning algorithm for such remote laser processing equipment is presented. By construction robot configurations through a sampling strategy redundancy is inherently taken into account and the path is ensured to comply with laser processing constraints. A test showed that the algorithm was capable of finding 1277/1280 possible paths in 2000 iterations for a 9 DOF mechanical system. These 1277 paths were represented in matrix form which can be used for sequencing of laser processing tasks.",

keywords = "Motion planning, Path planning, Production planning, Redundancy, Remote laser cutting, Remote laser welding, Robotics, Scheduling, Remote laser cutting, Remote laser welding, Production planning, Scheduling, Redundancy, Robotics, Motion planning, Path planning",

author = "Villumsen, {Sigurd Lazic} and Morten Kristiansen",

year = "2017",

doi = "10.1016/j.promfg.2017.07.109",

language = "English",

volume = "11",

pages = "300--310",

journal = "Procedia Manufacturing",

issn = "2351-9789",

publisher = "Elsevier",

note = "16th Nordic Laser Materials Processing Conference, NOLAMP16 ; Conference date: 22-08-2017 Through 24-08-2017",

url = "http://www.nolamp16.aau.dk/",

}

TY - GEN

T1 - PRM Based Motion Planning for Sequencing of Remote Laser Processing Tasks

AU - Villumsen, Sigurd Lazic

AU - Kristiansen, Morten

PY - 2017

Y1 - 2017

N2 - The mechanical system used for remote laser processing can contain as much as 9 degrees of freedom (DOF). In this paper, a sample based motion planning algorithm for such remote laser processing equipment is presented. By construction robot configurations through a sampling strategy redundancy is inherently taken into account and the path is ensured to comply with laser processing constraints. A test showed that the algorithm was capable of finding 1277/1280 possible paths in 2000 iterations for a 9 DOF mechanical system. These 1277 paths were represented in matrix form which can be used for sequencing of laser processing tasks.

AB - The mechanical system used for remote laser processing can contain as much as 9 degrees of freedom (DOF). In this paper, a sample based motion planning algorithm for such remote laser processing equipment is presented. By construction robot configurations through a sampling strategy redundancy is inherently taken into account and the path is ensured to comply with laser processing constraints. A test showed that the algorithm was capable of finding 1277/1280 possible paths in 2000 iterations for a 9 DOF mechanical system. These 1277 paths were represented in matrix form which can be used for sequencing of laser processing tasks.

KW - Motion planning

KW - Path planning

KW - Production planning

KW - Redundancy

KW - Remote laser cutting

KW - Remote laser welding

KW - Robotics

KW - Scheduling

KW - Remote laser cutting

KW - Remote laser welding

KW - Production planning

KW - Scheduling

KW - Redundancy

KW - Robotics

KW - Motion planning

KW - Path planning

U2 - 10.1016/j.promfg.2017.07.109

DO - 10.1016/j.promfg.2017.07.109

M3 - Conference article in Journal

AN - SCOPUS:85029885096

SN - 2351-9789

VL - 11

SP - 300

EP - 310

JO - Procedia Manufacturing

JF - Procedia Manufacturing

T2 - 16th Nordic Laser Materials Processing Conference, NOLAMP16

Y2 - 22 August 2017 through 24 August 2017

ER -

PRM Based Motion Planning for Sequencing of Remote Laser Processing Tasks

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