Browsing by Author "Valli, Antti"

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  • Sensor-based motion planning for a robotic manipulator
    (2013-08-26) Valli, Antti
     Sähkötekniikan korkeakoulu | Master's thesis
    When teleoperating a manipulator, obtaining sufficient situational awareness is often difficult. The operator's task can be made easier by automatically taking care of supporting tasks, such as collision avoidance, enabling the operator to concentrate on the manipulation task. In this work planning based collision avoidance methods for a robot manipulator in a changing unstructured environment are studied. Sensor based motion planning system is developed. The system detects the environment using a three-dimensional range sensor and produces an occupancy grid map. Three motion planning algorithms based on rapidly exploring random trees (RRT) are compared based on the planning time of the algorithm, the execution time of the planned motion and the end effector movement caused by the motion. For the experiments the motion planning system was implemented using Kinova JACO robot arm as the manipulator and Microsoft Kinect as the sensor. RRT-based algorithms were found to be suitable for this kind of motion planning systems. Of the algorithms compared, RRT-Connect was the fastest, but RRT* produced the best solution paths. The selection of algorithm depends on the relative value of path quality and solution speed and is application dependent.
  • Systeemidynamiikka avoimuuden välineenä poliittisessa päätöksenteossa
    (2011) Valli, Antti
     Sähkötekniikan korkeakoulu | Bachelor's thesis