4104712
doi
10.1109/ACCESS.2020.3026193
oai:zenodo.org:4104712
user-stockholmai
Lihui Wang
KTH Royal Institute of Technology
Artificial Intelligence Control in 4D Cylindrical Space for Industrial Robotic Applications
Andrea de Giorgio
KTH Royal Institute of Technology
info:eu-repo/semantics/openAccess
Creative Commons Attribution 4.0 International
https://creativecommons.org/licenses/by/4.0/legalcode
Industrial robot
Robot control
Algorithm
Pathfinding
Artificial Intelligence
Cylindrical symmetry
Search space
Volumetric information
Obstacle avoidance
<p>This article argues that an efficient artificial intelligence control algorithm needs the built-in symmetries of an industrial robot manipulator to be further characterized and exploited. The product of this enhancement is a four-dimensional (4D) discrete cylindrical grid space that can directly replace complex robot models. A* is chosen for its wide use among such algorithms to study the advantages and disadvantages of steering the robot manipulator within the 4D cylindrical discrete grid. The study shows that this approach makes it possible to control a robot without any specific knowledge of the robot kinematic and dynamic models at planning and execution time. In fact, the robot joint positions for each grid cell are pre-calculated and stored as knowledge, then quickly retrieved by the pathfinding algorithm when needed. The 4D cylindrical discrete space has both the advantages of the configuration space and the three-dimensional Cartesian workspace of the robot. Since path optimization is the core of any search algorithms, including A*, the 4D cylindrical grid provides for a search space that can embed further knowledge in form of cell properties, including the presence of obstacles and volumetric occupancy of the entire industrial robot body for obstacle avoidance applications. The main trade-off is between a limited capacity for pre-computed grid knowledge and the path search speed. This innovative approach encourages the use of search algorithms for industrial robotic applications, opens up to the study of other robot symmetries present in different robot models and lays a foundation for the application of dynamic obstacle avoidance algorithms.</p>
Zenodo
2020-09-23
info:eu-repo/semantics/article
4104711
user-stockholmai
1603541218.298575
1667913
md5:0e8fd653759a6eb4c7042a1951039c0a
https://zenodo.org/records/4104712/files/de_Giorgio_Wang_AI_control.pdf
public
IEEE Access
8
174833 - 174844
2020-09-23