This paper presents a complete coverage algorithm for a flexible parent child unit robot by combining input shaping with the wavefront algorithm. Input shaping was used to control the command-induced vibration in the system, while the wavefront algorithm planned the complete coverage path for a given workspace. A model of the flexible robot was developed by treating the child units as inputs, replacing the link wire by springs and dampers, and treating the parent unit as a point mass. Results showed significant improvement in the coverage process for the shaped coverage in comparison to the unshaped coverage.
Volume Subject Area:
Path Planning and Motion Control
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