3 research outputs found
End-to-end deep learning-based framework for path planning and collision checking: bin picking application
Real-time and efficient path planning is critical for all robotic systems. In
particular, it is of greater importance for industrial robots since the overall
planning and execution time directly impact the cycle time and automation
economics in production lines. While the problem may not be complex in static
environments, classical approaches are inefficient in high-dimensional
environments in terms of planning time and optimality. Collision checking poses
another challenge in obtaining a real-time solution for path planning in
complex environments. To address these issues, we propose an end-to-end
learning-based framework viz., Path Planning and Collision checking Network
(PPCNet). The PPCNet generates the path by computing waypoints sequentially
using two networks: the first network generates a waypoint, and the second one
determines whether the waypoint is on a collision-free segment of the path. The
end-to-end training process is based on imitation learning that uses data
aggregation from the experience of an expert planner to train the two networks,
simultaneously. We utilize two approaches for training a network that
efficiently approximates the exact geometrical collision checking function.
Finally, the PPCNet is evaluated in two different simulation environments and a
practical implementation on a robotic arm for a bin-picking application.
Compared to the state-of-the-art path planning methods, our results show
significant improvement in performance by greatly reducing the planning time
with comparable success rates and path lengths.Comment: 18 pages, 6 figures, 2 table
Simultaneous Capture and Detumble of a Resident Space Object by a Free-Flying Spacecraft-Manipulator System
The article of record as published may be found at https://doi.org/10.3389/frobt.2019.00014A maneuver to capture and detumble an orbiting space object using a chaser spacecraft equipped with a robotic manipulator is presented. In the proposed maneuver, the capture and detumble objectives are integrated into a unified set of terminal constraints. Terminal constraints on the end-effector’s position and velocity ensure a successful capture, and a terminal constraint on the chaser’s momenta ensures a post-capture chaser-target system with zero angular momentum. The manipulator motion required to achieve a smooth, impact-free grasp is gradually stopped after capture, equalizing the momenta across all bodies, rigidly connecting the two vehicles, and completing the detumble of the newly formed chaser-target system without further actuation. To guide this maneuver, an optimization-based approach that enforces the capture and detumble terminal constraints, avoids collisions, and satisfies actuation limits is used. The solution to the guidance problem is obtained by solving a collection of convex programming problems, making the proposed guidance approach suitable for onboard implementation and real-time use. This simultaneous capture and detumble maneuver is evaluated through numerical simulations and hardware-in-the-loop experiments. Videos of the numerically simulated and experimentally demonstrated maneuvers are included as Supplementary Material
Simultaneous Capture and Detumble of a Resident Space Object by a Free-Flying Spacecraft-Manipulator System
A maneuver to capture and detumble an orbiting space object using a chaser spacecraft equipped with a robotic manipulator is presented. In the proposed maneuver, the capture and detumble objectives are integrated into a unified set of terminal constraints. Terminal constraints on the end-effector's position and velocity ensure a successful capture, and a terminal constraint on the chaser's momenta ensures a post-capture chaser-target system with zero angular momentum. The manipulator motion required to achieve a smooth, impact-free grasp is gradually stopped after capture, equalizing the momenta across all bodies, rigidly connecting the two vehicles, and completing the detumble of the newly formed chaser-target system without further actuation. To guide this maneuver, an optimization-based approach that enforces the capture and detumble terminal constraints, avoids collisions, and satisfies actuation limits is used. The solution to the guidance problem is obtained by solving a collection of convex programming problems, making the proposed guidance approach suitable for onboard implementation and real-time use. This simultaneous capture and detumble maneuver is evaluated through numerical simulations and hardware-in-the-loop experiments. Videos of the numerically simulated and experimentally demonstrated maneuvers are included as Supplementary Material