CASPIAN JOURNAL
MANAGEMENT AND HIGH TECHNOLOGIES
Adaptive processing of green PLANTING with a mobile manipulator robot
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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 В«hedgesВ». 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: топиарная обработка, манипулятор, мобильный робот, зона достижимости манипулятора, генерирование траектории, обратная задача по положению, ROS, библиотека OMPL, topiary machining, manipulator, mobile robot, manipulator reachable area, trajectory generatio