Complete Coverage Path Planning for Flexible Parent-Child Unit Robots
2015 ◽
Keyword(s):
This paper presents a complete coverage algorithm for a flexible parent child unit robot by combining input shaping with the wavefront algorithm. Input shaping was used to control the command-induced vibration in the system, while the wavefront algorithm planned the complete coverage path for a given workspace. A model of the flexible robot was developed by treating the child units as inputs, replacing the link wire by springs and dampers, and treating the parent unit as a point mass. Results showed significant improvement in the coverage process for the shaped coverage in comparison to the unshaped coverage.
2012 ◽
Vol 8
(10)
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pp. 567959
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2011 ◽
Vol 467-469
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pp. 1377-1385
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2019 ◽
Vol 75
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pp. 189-201
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Keyword(s):
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2013 ◽
Vol 11
(2)
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pp. 369-376
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