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.
- Dynamic Systems and Control Division
Complete Coverage Path Planning for Flexible Parent-Child Unit Robots
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Olaonipekun, D, & Vaughan, J. "Complete Coverage Path Planning for Flexible Parent-Child Unit Robots." Proceedings of the ASME 2015 Dynamic Systems and Control Conference. Volume 3: Multiagent Network Systems; Natural Gas and Heat Exchangers; Path Planning and Motion Control; Powertrain Systems; Rehab Robotics; Robot Manipulators; Rollover Prevention (AVS); Sensors and Actuators; Time Delay Systems; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamics Control; Vibration and Control of Smart Structures/Mech Systems; Vibration Issues in Mechanical Systems. Columbus, Ohio, USA. October 28–30, 2015. V003T40A004. ASME. https://doi.org/10.1115/DSCC2015-9822
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