Industrial Robot Motion Planning Algorithms Performance Benchmarking

Yıl 2021, Cilt: 2 Sayı: 2, 31 - 45, 21.12.2021

Uğur Yayan Alim Erdoğmuş

https://doi.org/10.53525/jster.979689

Cited By: 1

Öz

In robotics studies, motion and trajectory planning for industrial robot systems is one of the most actively studied topics. "Automated Robot Inspection Cell for Quality Control of Automotive Body-in-White (ROKOS)" has been defined as the Usage Scenario within the scope of the VALU3S project, where studies are carried out for the verification and validation (V&V) of autonomous systems. In this study, ROKOS system, developed in the real environment, was transferred to the GAZEBO simulation environment for the verification and validation of the defined usage scenario, and SRVT system (Simulation Based Robot Verification Testing Tool) was revealed and simulation-based tests of the evaluation scenarios created within the scope of the project were carried out on this system. In this study, within the scope of "Safety Trajectory Optimization", which is one of the evaluation scenarios, it is aimed to verify and validate the software developed by creating trajectories in which the robot arms of the ROKOS system will move safely according to the determined evaluation criteria for the quality control of the bus chassis transferred to the simulation environment. In this context, the OMPL and EST trajectory planning algorithms of the ROS MoveIt tool were studied, and the pros and cons of these algorithms were determined. In order to verify these algorithms in the simulation environment, detailed tests were carried out on the usage scenario and the results were analyzed. Tests were conducted for 3 different scenarios (Speed Test, Full Test with Reset (FTR) and Full Test without Reset (FToR)) and validation activities were improved in terms of time and cost for the existing ROKOS system transferred to SRVT. Figure A shows the results of the Full Test with Reset.

Anahtar Kelimeler

Robotics, Verification&Validation, Industrial Quality Control, Trajectory Planning Algorithms

Destekleyen Kurum

ECSEL Joint Undertaking (JU)

Proje Numarası

876852

Teşekkür

The research leading to this paper has received funding from the ECSEL Joint Undertaking (JU) under grant agreement No 876852. The JU receives support from the European Union's Horizon 2020 research and innovation programme and Austria, Czech Republic, Germany, Ireland, Italy, Portugal, Spain, Sweden, Turkey. The views expressed in this document are the sole responsibility of the authors and do not necessarily reect the views or position of the European Commission.

Endüstriyel Robot Hareket Planlama Algoritmaları Performans Karşılaştırması

Öz

Robotik çalışmalarında, endüstriyel robot sistemleri için hareket ve yörünge planlama, aktif olarak çalışılan konuların başında gelmektedir. Otonom sistemlerin doğrulanması ve onaylanması (V&V) için çalışmalar yürütülen VALU3S projesi kapsamında Kullanım Senaryosu olarak "Araç Şase Kalite Kontrolü için Otonom Robot Denetleme Hücresi (ROKOS)" tanımlanmıştır. Bu çalışmada da, tanımlanmış kullanım senaryosunun doğrulanması ve onaylanması amacıyla gerçek ortamda geliştirilmiş ROKOS sistemi, GAZEBO simülasyon ortamına aktarılarak SRVT (Simulasyon Tabanlı Robot Doğrulama Test Sistemi) ortaya çıkarılmış ve bu sistem üzerinde ise proje kapsamında oluşturulan değerlendirme senaryolarının simülasyon tabanlı testleri yapılmıştır. Bu çalışmada, değerlendirme senaryolarından “Emniyetli Yörünge Optimizasyon” kapsamında, simülasyon ortamına aktarılmış olan otobüs şasesinin kalite kontrolü için ROKOS sistemine ait robot kollarının belirlenen değerlendirme kriterine göre emniyetli bir şekilde hareket edecekleri yörüngelerin oluşturularak geliştirilen yazılımların doğrulama ve onaylama işlemlerinin yapılması hedeflenmiştir. Bu kapsamda, ROS MoveIt aracına ait OMPL ve EST yörünge planlama algoritmaları üzerinde çalışılmış, bu algoritmaların artı ve eksi yönleri belirlenmiştir. Bu algoritmaların simülasyon ortamında doğrulanmaları için kullanım senaryosu üzerinde detaylı testler yapılmış ve sonuçları analiz edilmiştir. Testler 3 farklı senaryo (Hızlı test, Resetli Tam Test ve Resetsiz Tam Test) için yapılmış ve SRVT’ye aktarılmış mevcut ROKOS sistemi için doğrulama faaliyetleri zaman ve maliyet açısından iyileştirilmiştir.

Anahtar Kelimeler

Robotik, Doğrulama&Onaylama, Yörünge Planlama Algoritmaları, Endüstriyel Kalite Kontrol

Proje Numarası

876852

Kaynakça

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