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Published in:
2011 | OriginalPaper | Chapter
Motion Design for Service Robots
Authors : Elias Xidias, Nikos A. Aspragathos, Philip Azariadis
Published in: Intelligent Robotics and Applications
Publisher: Springer Berlin Heidelberg
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This paper considers the motion design problem for a service robot which is moving and manipulating objects in a partly known indoor environment such as stores and libraries. A service robot is requested to serve a set of work-stations in the environment providing transport and delivery tasks. The objective is to determine the optimum sequence of the work-stations visited by the service robot exactly once assuring that the robot’s path through the work-station is collision free. In addition, a time optimal algorithm is presented for motion planning of the manipulator for pick and place objects at the work-stations. Simulation examples are presented to show the effectiveness of the proposed approach.