Base position planning of mobile manipulators for assembly tasks in construction environments  

作　　者：Dai-Jun Xie Ling-Dong Zeng Zhen Xu Shuai Guo Guo-Hua Cui Tao Song 

机构地区：[1]Shanghai Key Laboratory of Intelligent Manufacturing and Robotics,School of Mechatronic Engineering and Automation,Shanghai University,Shanghai,200444,People’s Republic of China [2]National Demonstration Center for Experimental Engineering Training Education,Shanghai University,Shanghai,200444,People’s Republic of China [3]School of Mechanical and Automotive Engineering,Shanghai University of Engineering Science,Shanghai,201620,People’s Republic of China [4]Shanghai Collaborative Innovation Center of Intelligent Manufacturing Robot Technology for Large Components,Shanghai,201620,People’s Republic of China

出　　处：《Advances in Manufacturing》2023年第1期93-110,共18页先进制造进展（英文版）

基　　金：This research was supported by the National Key Research and Development Program of China(Grant No.2019YFB1310003);by the National Natural Science Foundation of China(Grant Nos.U1913603 and 61803251);by Shanghai Collaborative Innovation Center of Intelligent Manufacturing Robot Technology for Large Components(Grant No.ZXZ20211101).

摘　　要：With good mobility and flexibility,mobile manipulators have shown broad applications in construction scenarios.Base position(BP)planning,which refers to the robot autonomously determining its working station in the environment,is an important technique for mobile manipulators when performing the construction assembly task,especially in a large-scale construction environment.However,the BP planning process is tedious and time-consuming for a human worker to carry out.Thus,to improve the efficiency of construction assembly tasks,a novel BP planning method is proposed in this paper,which can lead to appropriate BPs and minimize the number of BPs at the same time.Firstly,the feasible BP regions are generated based on the grid division and the variable workspace of the mobile manipulator.Then,the positioning uncertainties of the mobile manipulator are considered in calculating the preferred BP areas using clustering.Lastly,a set coverage optimization model is established to obtain the minimum number of BPs using an optimization algorithm according to the greedy principle.The simulated experiment based on a 9-degree of free(DoF)mobile manipulator has been performed.The results illustrated that the time for BP planning was significantly reduced and the number of BPs was reduced by 63.41%compared to existing manual planning,which demonstrated the effectiveness of the proposed method.

关 键 词：Base position(BP)planning Mobile manipulators Variable workspace Positioning uncertainties Construction environments 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]