CASPIAN JOURNAL

MANAGEMENT AND HIGH TECHNOLOGIES

Adaptive processing of green PLANTING with a mobile manipulator robot

Read Korotkovs Vladislavs I, Vorotnikov Sergey A., Vibornov Nicholay A. Adaptive processing of green PLANTING with a mobile manipulator robot // Caspian journal : management and high technologies.  2016.  2.  pp. 48-58.

Korotkovs Vladislavs I - student, Bauman Moscow State Technical University, 5, 2-aya Baumanskaya St., Moscow, 105007, Russian Federation, vlad2.vik@mail.ru

Vorotnikov Sergey A. - Ph.D. (Engineering), Bauman Moscow State Technical University, 5, 2-aya Baumanskaya St., Moscow, 105007, Russian Federation, vorotn@bmstu.ru

Vibornov Nicholay A. - Ph.D. (Physics and Mathematics), Astrakhan State University, 20a Tatishchev St, Astrakhan, 414056, Russian Federation, do_vybornov@aspu.ru

The article discusses the design and control system of a topiary mobile robot for the treatment of curly green spaces such as «hedges». The robot construction includes a wheeled chassis (garden minitractor), complex navigation equipment, 6-axis industrial manipulator KUKA KR10 R1100 sixx, cutting tool - brush cutter. During plant treatment a three-dimensional map with located green spaces is used; the surface of spaces is approximated by predetermined primitives. A method of automatically generating a trajectory of movement of the manipulator for handling green areas, which are defined parametrically model is submitted. The article describes the algorithms forming toolpath, with a selection of the best machining options and taking into account the already treated surfaces. The proposed algorithm allows the processing of several local plants with one operating position.

Key words: , , , , , , ROS, OMPL, topiary machining, manipulator, mobile robot, manipulator reachable area, trajectory generatio