Roadmap search based motion planning for MIRADAS probe arms

MIRADAS is a near-infrared multiobject echelle spectrograph operating at spectral resolution R  =  20,000 over the 1 to 2.5  μm bandpass for Gran Telescopio Canarias. It possesses a multiplexing system with 12 cryogenic robotic probe arms, each capable of independently selecting a user-defined targe...

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Autores: Sabater, Josep, Torres Álvarez, Santiago, Garzón López, Francisco, Gómez Cama, José María
Formato: artículo
Estado:Versión publicada
Fecha de publicación:2018
País:España
Recursos:Universidad de Barcelona
Repositorio:Dipòsit Digital de la UB
OAI Identifier:oai:diposit.ub.edu:2445/124203
Acesso em linha:https://hdl.handle.net/2445/124203
Access Level:acceso abierto
Palavra-chave:Programació lineal
Espectroscòpia infraroja
Linear programming
Infrared spectroscopy
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spelling Roadmap search based motion planning for MIRADAS probe armsSabater, JosepTorres Álvarez, SantiagoGarzón López, FranciscoGómez Cama, José MaríaProgramació linealEspectroscòpia infrarojaLinear programmingInfrared spectroscopyMIRADAS is a near-infrared multiobject echelle spectrograph operating at spectral resolution R  =  20,000 over the 1 to 2.5  μm bandpass for Gran Telescopio Canarias. It possesses a multiplexing system with 12 cryogenic robotic probe arms, each capable of independently selecting a user-defined target in the instrument field of view. The arms are distributed around a circular bench, becoming a very packed workspace when all of them are in simultaneous operation. Therefore, their motions have to be carefully coordinated. We propose here a motion planning method for the MIRADAS probe arms. Our offline algorithm relies on roadmaps comprising alternative paths, which are discretized in a state-time space. The determination of collision-free trajectories in such space is achieved by means of a graph-search technique. The approach considers the constraints imposed by the particular architecture of the probe arms as well as the limitations of the commercial off-the-shelf motor controllers used in the mechanical design. We test our solution with real science targets and a typical MIRADAS scenario presenting some instances of the two identified collision conflicts that can arise between any pair of probe arms. Experiments show the method is versatile enough to compute trajectories fulfilling the requirements.Society of Photo-Optical Instrumentation Engineers (SPIE)2018info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionapplication/pdfhttps://hdl.handle.net/2445/124203Articles publicats en revistes (Enginyeria Electrònica i Biomèdica)reponame:Dipòsit Digital de la UBinstname:Universidad de BarcelonaInglésReproducció del document publicat a: https://doi.org/10.1117/1.JATIS.4.3.034001Journal of Astronomical Telescopes, Instruments, and Systems, 2018, vol. 4, num. 3, p. 4-19https://doi.org/10.1117/1.JATIS.4.3.034001(c) Society of Photo-Optical Instrumentation Engineers (SPIE), 2018info:eu-repo/semantics/openAccessoai:diposit.ub.edu:2445/1242032026-05-27T06:46:51Z
dc.title.none.fl_str_mv Roadmap search based motion planning for MIRADAS probe arms
title Roadmap search based motion planning for MIRADAS probe arms
spellingShingle Roadmap search based motion planning for MIRADAS probe arms
Sabater, Josep
Programació lineal
Espectroscòpia infraroja
Linear programming
Infrared spectroscopy
title_short Roadmap search based motion planning for MIRADAS probe arms
title_full Roadmap search based motion planning for MIRADAS probe arms
title_fullStr Roadmap search based motion planning for MIRADAS probe arms
title_full_unstemmed Roadmap search based motion planning for MIRADAS probe arms
title_sort Roadmap search based motion planning for MIRADAS probe arms
dc.creator.none.fl_str_mv Sabater, Josep
Torres Álvarez, Santiago
Garzón López, Francisco
Gómez Cama, José María
author Sabater, Josep
author_facet Sabater, Josep
Torres Álvarez, Santiago
Garzón López, Francisco
Gómez Cama, José María
author_role author
author2 Torres Álvarez, Santiago
Garzón López, Francisco
Gómez Cama, José María
author2_role author
author
author
dc.subject.none.fl_str_mv Programació lineal
Espectroscòpia infraroja
Linear programming
Infrared spectroscopy
topic Programació lineal
Espectroscòpia infraroja
Linear programming
Infrared spectroscopy
description MIRADAS is a near-infrared multiobject echelle spectrograph operating at spectral resolution R  =  20,000 over the 1 to 2.5  μm bandpass for Gran Telescopio Canarias. It possesses a multiplexing system with 12 cryogenic robotic probe arms, each capable of independently selecting a user-defined target in the instrument field of view. The arms are distributed around a circular bench, becoming a very packed workspace when all of them are in simultaneous operation. Therefore, their motions have to be carefully coordinated. We propose here a motion planning method for the MIRADAS probe arms. Our offline algorithm relies on roadmaps comprising alternative paths, which are discretized in a state-time space. The determination of collision-free trajectories in such space is achieved by means of a graph-search technique. The approach considers the constraints imposed by the particular architecture of the probe arms as well as the limitations of the commercial off-the-shelf motor controllers used in the mechanical design. We test our solution with real science targets and a typical MIRADAS scenario presenting some instances of the two identified collision conflicts that can arise between any pair of probe arms. Experiments show the method is versatile enough to compute trajectories fulfilling the requirements.
publishDate 2018
dc.date.none.fl_str_mv 2018
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv https://hdl.handle.net/2445/124203
url https://hdl.handle.net/2445/124203
dc.language.none.fl_str_mv Inglés
language_invalid_str_mv Inglés
dc.relation.none.fl_str_mv Reproducció del document publicat a: https://doi.org/10.1117/1.JATIS.4.3.034001
Journal of Astronomical Telescopes, Instruments, and Systems, 2018, vol. 4, num. 3, p. 4-19
https://doi.org/10.1117/1.JATIS.4.3.034001
dc.rights.none.fl_str_mv (c) Society of Photo-Optical Instrumentation Engineers (SPIE), 2018
info:eu-repo/semantics/openAccess
rights_invalid_str_mv (c) Society of Photo-Optical Instrumentation Engineers (SPIE), 2018
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv Society of Photo-Optical Instrumentation Engineers (SPIE)
publisher.none.fl_str_mv Society of Photo-Optical Instrumentation Engineers (SPIE)
dc.source.none.fl_str_mv Articles publicats en revistes (Enginyeria Electrònica i Biomèdica)
reponame:Dipòsit Digital de la UB
instname:Universidad de Barcelona
instname_str Universidad de Barcelona
reponame_str Dipòsit Digital de la UB
collection Dipòsit Digital de la UB
repository.name.fl_str_mv
repository.mail.fl_str_mv
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score 15,301603

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