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Motion Planning and Trajectory Generation for a Robot Assisted Laser Cutting Manipulator

Project: Research

Description

This is a flexible funds project within the National Centre for Nuclear Robotics (NCNR). The NCNR is a consortium of eight universities led by the University of Birmingham. Within the NCNR, Lancaster University Engineering Department contributes to research on mobility, navigation, grasping and manipulation. This involves the development of new control systems and adaptive algorithms for robots working on complex tasks in extreme environments – such as waste handling, cutting, navigation and other manoeuvres related to decommissioning radioactive sites. This flexible funds project has the following objectives: (1) improve the situational awareness of the laser cutting robotic manipulator by using a mobile vision system installed on an Unmanned Aerial Vehicle (UAV); (2) develop an artificial intelligent algorithm to generate a real-time collision free trajectory for laser cutting for highly redundant robots; and (3) integrate the trajectory planning and vision algorithm in a simulation environment in ROS.
StatusActive
Effective start/end date1/10/1931/03/21

Funding

  • EPSRC: £99,999.62

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