Article

Constraint-based motion planning for virtual prototyping

Authors:

Ming C. LinAuthors Info & Claims

SMA '02: Proceedings of the seventh ACM symposium on Solid modeling and applications

Pages 257 - 264

https://doi.org/10.1145/566282.566320

Published: 17 June 2002 Publication History

Abstract

We present a novel framework for motion planning of rigid and articulated robots in complex, dynamic, 3D environments and demonstrate its application to virtual prototyping. Our approach transforms the motion planning problem into the simulation of a dynamical system in which the motion of each rigid robot is subject to the influence of virtual forces induced by geometric constraints. These constraints may enforce joint connectivity and angle limits for articulated robots, spatial relationships between multiple collab-orative robots, or have a robot follow an estimated path to perform certain tasks in a sequence. Our algorithm works well in dynamic environments with moving obstacles and is applicable to challenging planning scenarios where multiple robots must move simultaneously to achieve a collision free path. We demonstrate its effectiveness for parts removal, automated car painting, and assembly line planning scenarios.

References

[1]

J. Barraquand and J.-C. Latombe. Robot motion planning: A distributed representation approach. Int. J. Robotic Research, 1991

Digital Library

[2]

W. Bouma, X. Chen, I. Fudos, C. Hoffmann, and P. Vermeer. An Electronic Primer on Geometric Constraint Solving. http://www.cs.purdue.edu/homes/cmh/electrobook/intro.html, 1990

[3]

B. Bruderlin and D. Roller (eds). Geometric Constraint Solving and Applications. Spring Verlag, 1998

Digital Library

[4]

J.F. Canny. The Complexity of Robot Motion Planning. ACM Doctoral Dissertation Award. MIT Press, 1988

Digital Library

[5]

H. Chang and T. Li. Assembly maintainability study with motion planning. In Proceedings of International Conference on Robotics and Automation, 1995

[6]

H. Choset and J. Burdick. Sensor based planning, part ii: Incremental construction of the generalized voronoi graph. IEEE Conference on Robotics and Automation, 1995

[7]

H. Choset and J. Burdick. Sensor based planning: The hierarchical generalized voronoi graph. Workshop on Algorithmic Foundations of Robotics, 1996

[8]

L. S. Homem de Mello and A. C. Sanderson. A correct and complete algorithm for the generation of mechanical assembly sequences. IEEE Trans. on Robotics and Automation, 7(2):228--240, 1991

[9]

M. Erdmann and M. Mason. An exploration of sensorless manipulation. IEEE Tr. on Robotics and Automation, 4:369--379, 1988

[10]

M. Foskey, M. Garber, M. Lin, and D. Manocha. A voronoi-based hybrid planner. Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, 2001

[11]

K. Goldberg. Orienting polygonal parts without sensors. Algorithmica, 10:201--225, 1993

Digital Library

[12]

S. Gottschalk, M. Lin, and D. Manocha. Obb-tree: A hierarchical structure for rapid interference detection. In Proc. of ACM Siggraph'96, pages 171--180, 1996

Digital Library

[13]

D. Halperin, J. Latombe, and R. Wilson. A general framework for assembly planning: The motion space approach. Algorithmica, 1999

[14]

K. Hoff, T. Culver, J. Keyser, M. Lin, and D. Manocha. Fast computation of generalized voronoi diagrams using graphics hardware. Proceedings of ACM SIGGRAPH 1999, pages 277--286, 1999

Digital Library

[15]

L. Kavraki and J. C. Latombe. Randomized preprocessing of configuration space for fast path planning. IEEE Conference on Robotics and Automation, pages 2138--2145, 1994

[16]

O. Khatib. Real-time obstable avoidance for manipulators and mobile robots. IJRR, 5(1):90--98, 1986

Digital Library

[17]

G. Kramer. Solving Geometric Constraint Systems: A case study in kinematics. MIT Press, 1992

[18]

E. Larsen, S. Gottschalk, M. Lin, and D. Manocha. Distance queries with rectangular swept sphere volumes. Proc. of IEEE Int. Conference on Robotics and Automation, 2000

[19]

J.C. Latombe. Robot Motion Planning. Kluwer Academic Publishers, 1991

Digital Library

[20]

T. Lozano-P¿ erez and M. Wesley. An algorithm for planning collision-free paths among polyhedral obstacles. Comm. ACM, 22(10):560--570, 1979

Digital Library

[21]

T. Lozano-Perez and R. Wilson. Assembly sequencing for arbitrary motions. Proc. IEEE International Conference on Robotics and Automation, 1993

[22]

V. Lumelsky and A. Stepanov. Path planning strategies for point mobile automaton moving amidst unknown obstacles of arbitrary shape. Algorithmica, 2:403--430, 1987

Digital Library

[23]

K. Ahrentsen N. Jacobsen, R. Larsen, and L. Overgaard. Automatic robotwelding in complex shipstructures. J. Applied Artificial Intelligence, 1997

[24]

J.M. Ortega and W.C. Rheinboldt. Iterative Solution of Nonlinear Equations in Several Variables. Academic Press, 1970

Digital Library

[25]

L Overgaard, H. Petersen, and J. Perram. A general algorithm for dynamic control of multilink robots. Int. J. Robotics Research, 14(3), 1995

Digital Library

[26]

A. Witkin and D. Baraff. Physically Based Modeling: Principles and Practice. ACM Press, 1997. Course Notes of ACM SIGGRAPH

Cited By

Keshvarparast ABattini DBattaia OPirayesh A(2023)Collaborative robots in manufacturing and assembly systems: literature review and future research agendaJournal of Intelligent Manufacturing10.1007/s10845-023-02137-w35:5(2065-2118)Online publication date: 30-May-2023
https://doi.org/10.1007/s10845-023-02137-w
Li XChen WZhang WGao XHao L(2019)Acceleration of the Development for Motion Planning Algorithms Using V-REP2019 WRC Symposium on Advanced Robotics and Automation (WRC SARA)10.1109/WRC-SARA.2019.8931909(7-12)Online publication date: Aug-2019
https://doi.org/10.1109/WRC-SARA.2019.8931909
Ren WWu ZZhang L(2016)Real-time planning of a lifting scheme in mobile crane mounted controllersCanadian Journal of Civil Engineering10.1139/cjce-2015-011043:6(542-552)Online publication date: Jun-2016
https://doi.org/10.1139/cjce-2015-0110
Show More Cited By

Index Terms

Constraint-based motion planning for virtual prototyping

Recommendations

VCS-based motion planning for distributed mobile robots: collision avoidance and formation

This paper addresses decentralized motion planning among a homogeneous set of feedback-controlled mobile robots. It introduces the velocity obstacle, which describes the collision between robot and obstacle, and the hybrid interactive velocity obstacles ...
Motion planning in virtual prototyping: practical considerations
ISATP '95: Proceedings of the 1995 IEEE International Symposium on Assembly and Task Planning

Abstract: Electronic or virtual prototyping has been advocated to having benefits ranging from earlier product introduction to higher product quality with a lower cost. Its capability has evolved from enabling concept/assembly evaluation to functional ...
Velocity-Change-Space-based dynamic motion planning for mobile robots navigation

This paper deals with the problem of dynamic motion planning in an unknown environment, where the workspace is cluttered with moving obstacles and robots. First, we give the principle of hybrid velocity obstacles, the definition of the preferred ...

Comments

Information & Contributors

Information

Published In

cover image ACM Conferences

SMA '02: Proceedings of the seventh ACM symposium on Solid modeling and applications

June 2002

424 pages

ISBN:1581135068

DOI:10.1145/566282

Conference Chairs:
Hans-Peter Seidel
Max-Planck-Institut für Informatik, Saarbrücken, Germany
,
Vadim Shapiro
University of Wisconsin, Madison, U.S.A.
,
Program Chairs:
Kunwoo Lee
Seoul National University, Seoul, Korea
,
Nick Patrikalakis
Massachsetts Institute of Technology, Cambridge, U.S.A.

Copyright © 2002 ACM.

Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

Sponsors

SIGGRAPH: ACM Special Interest Group on Computer Graphics and Interactive Techniques

Publisher

Association for Computing Machinery

New York, NY, United States

Publication History

Published: 17 June 2002

Permissions

Request permissions for this article.

Request Permissions

Check for updates

Author Tags

Qualifiers

Article

Conference

SM02

Sponsor:

SIGGRAPH

SM02: ACM Symposium on Solid Modeling and Applications 2002

June 17 - 21, 2002

Saarbrücken, Germany

Acceptance Rates

SMA '02 Paper Acceptance Rate 43 of 93 submissions, 46%;

Overall Acceptance Rate 86 of 173 submissions, 50%

Contributors

Other Metrics

View Article Metrics

Bibliometrics & Citations

Bibliometrics

Article Metrics

9
Total Citations
View Citations
556
Total Downloads

Downloads (Last 12 months)1
Downloads (Last 6 weeks)0

Reflects downloads up to 11 Aug 2024

Other Metrics

View Author Metrics

Citations

Cited By

Keshvarparast ABattini DBattaia OPirayesh A(2023)Collaborative robots in manufacturing and assembly systems: literature review and future research agendaJournal of Intelligent Manufacturing10.1007/s10845-023-02137-w35:5(2065-2118)Online publication date: 30-May-2023
https://doi.org/10.1007/s10845-023-02137-w
Li XChen WZhang WGao XHao L(2019)Acceleration of the Development for Motion Planning Algorithms Using V-REP2019 WRC Symposium on Advanced Robotics and Automation (WRC SARA)10.1109/WRC-SARA.2019.8931909(7-12)Online publication date: Aug-2019
https://doi.org/10.1109/WRC-SARA.2019.8931909
Ren WWu ZZhang L(2016)Real-time planning of a lifting scheme in mobile crane mounted controllersCanadian Journal of Civil Engineering10.1139/cjce-2015-011043:6(542-552)Online publication date: Jun-2016
https://doi.org/10.1139/cjce-2015-0110
Zhang CHammad A(2012)Improving lifting motion planning and re-planning of cranes with consideration for safety and efficiencyAdvanced Engineering Informatics10.1016/j.aei.2012.01.00326:2(396-410)Online publication date: 1-Apr-2012
https://dl.acm.org/doi/10.1016/j.aei.2012.01.003
Yanyan Lu Jyh-Ming Lien (2011)Finding critical changes in dynamic configuration spaces2011 IEEE/RSJ International Conference on Intelligent Robots and Systems10.1109/IROS.2011.6094436(2626-2631)Online publication date: Sep-2011
https://doi.org/10.1109/IROS.2011.6094436
Eftekharian AIlieş H(2011)A family of skeletons for motion planning and geometric reasoning applicationsArtificial Intelligence for Engineering Design, Analysis and Manufacturing10.1017/S089006041100022925:4(375-392)Online publication date: 1-Nov-2011
https://dl.acm.org/doi/10.1017/S0890060411000229
Medland AMatthews JMullineux G(2009)A constraint-net approach to the resolution of conflicts in a product with multi-technology requirementsInternational Journal of Computer Integrated Manufacturing10.1080/0951192080237228622:3(199-209)Online publication date: Mar-2009
https://doi.org/10.1080/09511920802372286
Chettibi THaddad MRebai SHentout A(2006)A STOCHASTIC OFF LINE PLANNER OF OPTIMAL DYNAMIC MOTIONS FOR ROBOTIC MANIPULATORSINFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS I10.1007/1-4020-4543-3_8(73-80)Online publication date: 2006
https://doi.org/10.1007/1-4020-4543-3_8
Redon SLin M(2005)Practical Local Planning in the Contact SpaceProceedings of the 2005 IEEE International Conference on Robotics and Automation10.1109/ROBOT.2005.1570765(4200-4205)Online publication date: 2005
https://doi.org/10.1109/ROBOT.2005.1570765

View Options

Get Access

Login options

Check if you have access through your login credentials or your institution to get full access on this article.

Full Access

Get this Publication

View options

PDF

View or Download as a PDF file.

eReader

View online with eReader.

Media

Figures

Other

Tables

View Table of Contents