A systematic approach to trajectory planning applied to modular robots

A. R. Cukla, R. S. Peres, J. Barata, R. C. Izquierdo, E. A. Perondi, F. J. Lorini

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

A flexible manufacturing system is defined as a system that has the ability to respond to expected or unexpected changes in a manufacturing process. Currently, one of the options to implement a flexible manufacturing system, is the use of advanced technologies to provide more flexibility, lower cost and reusability. In this context, the modular robots (based in mechatronic modules) can be an alternative to classic manipulators, because they have a variable kinematic structure and are adaptable to changing production lines, being economic for industrial implementations. In this study, taking into account the flexibility characteristics of modular robots, a systematic approach to path planning applied in different modular robotic configurations is presented. The proposed methodology is described as follows: 1) definition of the concepts of a mechatronic module, 2) application of mechatronic modules in assembling of modular robots; and finally, 3) presentation of a system for the path planning of different modular configurations. The studies show that the concepts related to the trajectory planning are important aspects to be considered in self-configurable and flexible platforms.

Original languageEnglish
Title of host publicationISMA 2015 - 10th International Symposium on Mechatronics and its Applications
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781467377973
DOIs
Publication statusPublished - 5 Jan 2016
Event10th International Symposium on Mechatronics and its Applications, ISMA 2015 - Sharjah, United Arab Emirates
Duration: 8 Dec 201510 Dec 2015

Conference

Conference10th International Symposium on Mechatronics and its Applications, ISMA 2015
CountryUnited Arab Emirates
CitySharjah
Period8/12/1510/12/15

Fingerprint

Modular robots
Mechatronics
Flexible manufacturing systems
Trajectories
Motion planning
Planning
Reusability
Manipulators
Kinematics
Robotics
Economics
Costs

Cite this

Cukla, A. R., Peres, R. S., Barata, J., Izquierdo, R. C., Perondi, E. A., & Lorini, F. J. (2016). A systematic approach to trajectory planning applied to modular robots. In ISMA 2015 - 10th International Symposium on Mechatronics and its Applications [7373495] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ISMA.2015.7373495
Cukla, A. R. ; Peres, R. S. ; Barata, J. ; Izquierdo, R. C. ; Perondi, E. A. ; Lorini, F. J. / A systematic approach to trajectory planning applied to modular robots. ISMA 2015 - 10th International Symposium on Mechatronics and its Applications. Institute of Electrical and Electronics Engineers Inc., 2016.
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Cukla, AR, Peres, RS, Barata, J, Izquierdo, RC, Perondi, EA & Lorini, FJ 2016, A systematic approach to trajectory planning applied to modular robots. in ISMA 2015 - 10th International Symposium on Mechatronics and its Applications., 7373495, Institute of Electrical and Electronics Engineers Inc., 10th International Symposium on Mechatronics and its Applications, ISMA 2015, Sharjah, United Arab Emirates, 8/12/15. https://doi.org/10.1109/ISMA.2015.7373495

A systematic approach to trajectory planning applied to modular robots. / Cukla, A. R.; Peres, R. S.; Barata, J.; Izquierdo, R. C.; Perondi, E. A.; Lorini, F. J.

ISMA 2015 - 10th International Symposium on Mechatronics and its Applications. Institute of Electrical and Electronics Engineers Inc., 2016. 7373495.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Cukla AR, Peres RS, Barata J, Izquierdo RC, Perondi EA, Lorini FJ. A systematic approach to trajectory planning applied to modular robots. In ISMA 2015 - 10th International Symposium on Mechatronics and its Applications. Institute of Electrical and Electronics Engineers Inc. 2016. 7373495 https://doi.org/10.1109/ISMA.2015.7373495