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A mechanism to derive non-repetitive coverage path solutions with a provenminimal number of discontinuities is proposed in this work, with the aim toavoid unnecessary, costly end effector lift-offs for manipulators. The problemis motivated by the automatic polishing of an object. Due to the non-bijectivemapping between the workspace and the joint-space, a continuous coverage pathin the workspace may easily be truncated in the joint-space, incuringundesirable end effector lift-offs. Inversely, there may be multipleconfiguration choices to cover the same point of a coverage path through thesolution of the Inverse Kinematics. The solution departs from the conventionallocal optimisation of the coverage path shape in task space, or choosingappropriate but possibly disconnected configurations, to instead explicitlyexplore the leaast number of discontinuous motions through the analysis of thestructure of valid configurations in joint-space. The two novel contributionsof this paper include proof that the least number of path discontinuities ispredicated on the surrounding environment, independent from the choice of theactual coverage path; thus has a minimum. And an efficient finite cellulardecomposition method to optimally divide the workspace into the minimum numberof cells, each traversable without discontinuties by any arbitrary coveragepath within. Extensive simulation examples and real-world results on a 5 DoFmanipulator are presented to prove the validity of the proposed strategy inrealistic settings.

Cellular Decomposition for Non-repetitive Coverage Task with Minimum Discontinuities