Modelagem exteroceptiva via álgebra de Clifford para trajetória em ambiente confinado do robô Movemaster RV-M2

Abstract

Several topics involving algebra that models and solves kinematics equations in serial manipulators have problems that are still open, although they are already well understood. Increasingly, the industry demands innovation in control and sensing techniques for robots capable of interacting with the environment safely. In this work, the Clifford algebra approach is applied to kinematics and the description of a confinement environment for the Movemaster RV-M2 manipulator is carried out, with elements that allow generalization to other manipulators. These techniques are related to points, lines, and planes that project collision-free trajectories. The experiments are carried out with the robot after it goes through the retrofit process, where color, depth, and odometry sensors were installed in addition to a new open-source controller compatible with ROS. It contributes with an algorithm for maximizing secondary objectives and an unprecedented methodology for modeling obstacles. It concludes with the validity of the proposed methods through examples carried out with the real and simulated robot, with the possibility of applying the techniques discussed in several future contributions.