Eventos Anais de eventos
COBEM 2019
25th International Congress of Mechanical Engineering
OPTIMAL TIME TRAJECTORY WITH OBJECT AVOIDANCE FOR THE DOMESTIC ROBOT HERA'S MANIPULATOR
Submission Author:
Fabrizio Leonardi , SP , Brazil
Co-Authors:
Marina Yukari Gonbata, Plinio Thomaz Aquino Junior, Fabrizio Leonardi
Presenter: Fabrizio Leonardi
doi://10.26678/ABCM.COBEM2019.COB2019-1037
Abstract
Robotics make life easier for people in industries with automated assembly lines, and in homes robots can help with repetitive household chores, having to be considered customizing activities, since there is a wide range of activities and interactions with the humans of the residence. With the current technological advances, the reality where the robots are inserted inside the residences has been becoming more and more possible. In a domestic environment, it is important to have a control in the movement of the domestic robot so that it can interact with humans in a safe way. For this, one of the necessary things is to optimize the movement of the robotic arm respecting movement restrictions so that there are no collisions with the robot itself and with the environment. This article deals with the optimization of the trajectory of a 2D robotic manipulator with detour of obstacles and attainment of the target in minimum time. The problem was formulated as an optimal control problem using the PROPT software, an extension of TOMLAB to MATLAB, focusing on domestic environments, using an existing domestic robot HERA as reference. With the obtained results, it is intended to implement heuristics based on optimal solutions to enable a real-time implementation.
Keywords
optimal trajectory, manipulator, service robots, home care
