Planning Considerations for a Roving Robot with Arm

Abstract

The Jet Propulsion L a b ora tor y is engage d in a r o bot res ea r c h program. The program is aimed a t the development and demonstration o f technology required t o int eg rat e a variety of rob o tic functions (locomotion, manipulation, sensing and perception, decision making, and man - robot intera c ti on ) int o a working robot unit operating in a r ea l wo rld environment and dealing with both man-mad e and natural objects. This paper bri e fly describes the h a rdwar e and software system architecture of the robot breadboard and summarizes the developments to date. The content of the pap er is focused on th e unique planning co nsiderations inv o lved in incorporating a manipulator as part of an autonomous r obo t system. In particular, the effects of system architecture, arm traje c tory ca l culations, and a rm dynam ics a nd co ntrol are discussed in the con text o f pl an ning arm motion in complex and changing sensory and workspace environments . KEY TERMS: Robot system; Robot system planning; Robot breadb oard architecture; Arm m otion planning; Arm control; Arm dynamics; Sensors for manipulation; Manipulating in natural and constrained environment.