Author: Musa Khalil JouanehPublisher:
ISBN:
Category :
Languages : en
Pages : 298
Book Description
Trajectory Planning for Coordinated Motion of a Robot and a Positioning Table Along Smooth and Sharp Cornered Paths
Author: Musa Khalil JouanehTrajectory Planning for the Coordinated Continuous-path Motion of Two-robot Systems
Author: Edward TabarahProceedings
Author: Publisher:
ISBN:
Category : Human-machine systems
Languages : en
Pages : 560
Book Description
Applied Mechanics Reviews
Author: ADMISSIBLE PATH PLANNING IN COORDINATED MOTION OF TWO ROBOT ARMS.
Author: AHMAD. HEMAMITrajectory Planning for Automatic Machines and Robots
Author: Luigi BiagiottiPublisher: Springer Science & Business Media
ISBN: 3540856293
Category : Technology & Engineering
Languages : en
Pages : 515
Book Description
This book deals with the problems related to planning motion laws and t- jectories for the actuation system of automatic machines, in particular for those based on electric drives, and robots. The problem of planning suitable trajectories is relevant not only for the proper use of these machines, in order to avoid undesired e?ects such as vibrations or even damages on the mech- ical structure, but also in some phases of their design and in the choice and sizing of the actuators. This is particularly true now that the concept of “el- tronic cams” has replaced, in the design of automatic machines, the classical approach based on “mechanical cams”. The choice of a particular trajectory has direct and relevant implications on several aspects of the design and use of an automatic machine, like the dimensioning of the actuators and of the reduction gears, the vibrations and e?orts generated on the machine and on the load, the tracking errors during the motion execution. For these reasons, in order to understand and appreciate the peculiarities of the di?erent techniques available for trajectory planning, besides the ma- ematical aspects of their implementation also a detailed analysis in the time and frequency domains, a comparison of their main properties under di?erent points of view, and general considerations related to their practical use are reported.
Robot Manipulation Trajectory Planning in Complex Position
Author: Razali SaminPublisher:
ISBN:
Category : Robots
Languages : en
Pages : 444
Book Description
The study proposed and demonstrated a strategy smooth trajectory planning to follow the path constrained with time optimal trajectories for the manipulator. The problem in trajectory planning was to find a smooth trajectory function and optimal joint optimisation processes. Such trajectories were obtained by considering the kinem~tics properties for velocities, accelerations and jerks profiles in joint coordi~!ites for the end-effector to move the path constraints. The method was based on the position profile composed of three polynomial segments such as 4-3-4, 3-5-3 and 3-cubic trajectory and five polynomial segments for 5-cubic trajectory. These polynomial segments combination allowed the analytical solution to the minimum time trajectory problem under consideration of velocity, acceleration and jerk by using Mathematica software. A number of simulations were performed to demonstrate the trajectory methods using robot simulation PUMA 560 model. The robot simulation model was developed using Mechanical Desktop software and the analytical analysis was done USIng visualNastran software. The simulations showed that the trajectory ability methods for the investigation under varying time ratio conditions and the operations such as Pick and Place Operation (PPO) and Continuous Path (CP). For comparison on varying time ratio 4-3-4 gave a reasonably smooth for normal trajectory condition and a ramp at middle segment to generate a minimum free-space time compared to 3-5-3 and cubic trajectories. For PPO and CP, 4-3-4 trajectory generated a lower values for accelerations and jerks compared to 3-5-3 and cubic trajectories. This showed the 4-3-4 trajectory was the best type of joint interpolated trajectory planning for any path planning operations.
American Doctoral Dissertations
Author: Publisher:
ISBN:
Category : Dissertation abstracts
Languages : en
Pages : 760
Book Description
Nonholonomic Motion Planning
Author: Zexiang LiPublisher: Springer Science & Business Media
ISBN: 9780792392750
Category : Computers
Languages : en
Pages : 468
Book Description
Emerging from the Workshop on [title], held at the 1991 IEEE International Conference on Robotics and Automation, this volume consists of contributed chapters representing new developments in the area of path planning for robotic systems that are subject to either nonholonomic constraints or non-integrable conservation laws. The contributors include robotics engineers, nonlinear control experts, differential geometers, and applied mathematicians. Could by used as a reference by researchers or as a textbook for a graduate level robotics or nonlinear control course. Annotation copyright by Book News, Inc., Portland, OR
Coordinated Path Planning for Multiple Robots
Author: Petr S̆vestkaPublisher:
ISBN:
Category : Data structures (Computer science)
Languages : en
Pages : 29
Book Description
Abstract: "We present a new approach to the multi-robot path planning problem, where a number of robots are to change their positions through feasible motions in the same static environment. Rather than the usual decoupled planning, we use a coordinated approach. As a result we can show that the method is probabilistically complete, that is, any solvable problem will be solved within a finite amount of time. A data- structure storing multi-robot motions is built in two steps. First, a roadmap is constructed for just one robot. For this we use the Probabilistic Path Planner, which guarantees that the approach can be easily applied to different robot types. In the second step, a number of these simple roadmaps are combined into a roadmap for the composite robot. This data-structure can be used for retrieving multi-robot paths. We have applied the method to car-like robots, and simulation results are presented which show that problems involving up to 5 car-like robots in complex environments are solved successfully in computation times in the order of seconds, after a preprocessing step (the construction of the data structure) that consumes, at most, a few minutes. Such a preprocessing step however needs to be performed just once, for a given static environment."