TY - GEN
T1 - Workspace-Based Approach for Robot Trajectory Evaluation
AU - Jha, Abhishek
AU - Rajesh, Arjun
AU - Jaiswal, Ankur
N1 - Publisher Copyright:
© The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.
PY - 2024
Y1 - 2024
N2 - A robot’s workspace refers to the surrounding environment where robot can move, operate, and interact with the other objects for task accomplishment. Analysis of robot workspace is an important aspect in robot’s motion planning, task execution, and interaction with the world. This paper presents a framework to assess the suitability of a given trajectory in the robot workspace. The framework utilizes kinematic modeling along with the adaptive neuro fuzzy inference system to learn the robot workspace model. Afterward, the learned model is used to retrieve an analogous trajectory corresponding to the specified task at the trajectory level. The approach is demonstrated for a six degrees of freedom industrial robot in a simulation environment. Simulation results reflect that the proposed approach provides a simplified way to evaluate the executability of an externally defined trajectory by the robot.
AB - A robot’s workspace refers to the surrounding environment where robot can move, operate, and interact with the other objects for task accomplishment. Analysis of robot workspace is an important aspect in robot’s motion planning, task execution, and interaction with the world. This paper presents a framework to assess the suitability of a given trajectory in the robot workspace. The framework utilizes kinematic modeling along with the adaptive neuro fuzzy inference system to learn the robot workspace model. Afterward, the learned model is used to retrieve an analogous trajectory corresponding to the specified task at the trajectory level. The approach is demonstrated for a six degrees of freedom industrial robot in a simulation environment. Simulation results reflect that the proposed approach provides a simplified way to evaluate the executability of an externally defined trajectory by the robot.
UR - https://www.scopus.com/pages/publications/85208026449
UR - https://www.scopus.com/pages/publications/85208026449#tab=citedBy
U2 - 10.1007/978-981-97-4650-7_42
DO - 10.1007/978-981-97-4650-7_42
M3 - Conference contribution
AN - SCOPUS:85208026449
SN - 9789819746491
T3 - Lecture Notes in Electrical Engineering
SP - 573
EP - 584
BT - Intelligent Control, Robotics, and Industrial Automation - Proceedings of International Conference, RCAAI 2023
A2 - Suresh, Shilpa
A2 - Lal, Shyam
A2 - Kiran, Mustafa Servet
PB - Springer Science and Business Media Deutschland GmbH
T2 - International Conference on Robotics, Control, Automation and Artificial Intelligence, RCAAI 2023
Y2 - 12 October 2023 through 14 October 2023
ER -