Spatial Path Generation Algorithm "SmarTrack" by Complementary Use of Nominal and Sensory Path Data (Applicability Evaluation and Parameter Design in the Case Where Actual Paths are Transformed)

Abstract

This paper describes applicability evaluation and parameter design of SmarTrack Algorithm in the case where actual paths are transformed. SmarTrack is the spatial path generation algorithm based on the complementary use of nominal path data and sensory data of an actual path proposed by the authors to realize a high reliability seam tracking robotic system which can operate even under poor sensing environments. SmarTrack is basically premised on that a nominal path and an actual path have a relation of rigid body motion. To evaluate applicability of this algorithm in the case where actual paths are transformed, path transformation is modeled by three kinds, bend, arc and cyclic, then the position error and the orientation error of the generated path by SmarTrack to the three kinds of path transformation are investigated in the simulation. As a result of the simulation, relation between the amount of transformation and the algorithm parameters, and the position error and the orientation error of the generated path by SmarTrack was clarified quantitatively. This result indicates that by using the revision matrix obtained in the partial section which sandwiches a tool, SmarTrack can apply to the case where actual paths are transformed. Also it is shown clearly that SmarTrack has the applicable domain to the amount of transformation of the actual path which happen by arc-welding. Based on the results, algorithm parameters design criterion appropriate to the task specification is described for SmarTrack algorithm.