Modeling, Analysis and Trajectory Planning of a 5 Degree of Freedom Robotic Arm for a Transmission Line Crossing Robot

SUMMARYIn this paper, we have reported a trajectory planning for a 1-degree-of-freedom clutched robotic arm. This novel robotic arm has only one actuator, but it can work in a spatial space by using a proper clutch system and a suitable trajectory planning. An algorithm has been proposed for generating a prescribed trajectory by means of seven operation modes, which are generated by different states of clutches.

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Integration of Forearm sEMG Signals with IMU Sensors for Trajectory Planning and Control of Assistive Robotic Arm

2019 41st Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC) ◽

10.1109/embc.2019.8856699 ◽

2019 ◽

Cited By ~ 2

Author(s):

Bridget Schabron ◽

Adam Reust ◽

Jaydip Desai ◽

Yimesker Yihun

Keyword(s):

Trajectory Planning ◽

Robotic Arm ◽

Planning And Control ◽

And Control ◽

Trajectory Planning And Control ◽

Assistive Robotic ◽

Semg Signals

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Research on Six Degree of Freedom Robot Trajectory Planning Method Based on Improved Ant Colony Algorithm

10.1109/auteee52864.2021.9668727 ◽

2021 ◽

Author(s):

Wang Jisen

Keyword(s):

Trajectory Planning ◽

Ant Colony Algorithm ◽

Degree Of Freedom ◽

Planning Method ◽

Ant Colony ◽

Robot Trajectory ◽

Six Degree Of Freedom ◽

Improved Ant Colony Algorithm ◽

Robot Trajectory Planning

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Galloping Vibration of Nonlinear Cables Through a Two Degree-of-Freedom Oscillator

Volume 4B: Dynamics, Vibration, and Control ◽

10.1115/imece2016-66173 ◽

2016 ◽

Author(s):

Albert C. J. Luo ◽

Bo Yu

Keyword(s):

Transmission Line ◽

Analytical Solutions ◽

Transmission Lines ◽

Nonlinear Oscillator ◽

Numerical Solutions ◽

Degree Of Freedom ◽

Periodic Motions ◽

Stability And Bifurcation ◽

Two Degree Of Freedom

In this paper, galloping vibrations of a lightly iced transmission line are investigated through a two-degree-of-freedom (2-DOF) nonlinear oscillator. The 2-DOF nonlinear oscillator is used to describe the transverse and torsional motions of the galloping cables. The analytical solutions of periodic motions of galloping cables are presented through generalized harmonic balanced method. The analytical solutions of periodic motions for the galloping cable are compared with the numerical solutions, and the corresponding stability and bifurcation of periodic motions are analyzed by the eigenvalues analysis. To demonstrate the accuracy of the analytical solutions of periodic motions, the harmonic amplitudes are presented. This investigation will help one better understand galloping mechanism of iced transmission lines.

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An Optimization-Based Algorithm for Trajectory Planning of an Under-Actuated Robotic Arm to Perform Autonomous Suturing

IEEE Transactions on Biomedical Engineering ◽

10.1109/tbme.2020.3024632 ◽

2020 ◽

pp. 1-1

Author(s):

Hossein Dehghani ◽

Yue Sun ◽

Lou Cubrich ◽

Dmitry Oleynikov ◽

Shane Farritor ◽

...

Keyword(s):

Trajectory Planning ◽

Robotic Arm

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Termorio-S.Jose double circuit transmission line crossing several pipelines-modelling problems

2004 IEEE/PES Transmision and Distribution Conference and Exposition: Latin America (IEEE Cat. No. 04EX956) ◽

10.1109/tdc.2004.1432355 ◽

2005 ◽

Author(s):

S.T. Sobral ◽

F. Ricci ◽

G. Azzam ◽

A.A.M. Junior

Keyword(s):

Transmission Line ◽

Modelling Problems ◽

Line Crossing

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Degenerated Degree of Freedom Sensing Without Loss of Accuracy While Estimating the Rigid Body Parameters for the Calibration of a Two-Axis Robotic Arm for Prototype Fast Breeder Reactor, Steam Generator Inspection System

Lecture Notes in Mechanical Engineering - Machines, Mechanism and Robotics ◽

10.1007/978-981-10-8597-0_53 ◽

2018 ◽

pp. 619-635

Author(s):

S. Joseph Winston ◽

Joel Jose ◽

D. Jagadishan ◽

S. Sakthivel ◽

P. Visweswaran ◽

...

Keyword(s):

Rigid Body ◽

Steam Generator ◽

Degree Of Freedom ◽

Robotic Arm ◽

Inspection System ◽

Fast Breeder Reactor ◽

Body Parameters

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Coupling dynamic modeling and simulation of three-degree-of-freedom micromanipulator based on piezoelectric ceramic of fuzzy PID

Modern Physics Letters B ◽

10.1142/s0217984917501408 ◽

2017 ◽

Vol 31 (24) ◽

pp. 1750140 ◽

Cited By ~ 3

Author(s):

Dongjie Li ◽

Yu Fu ◽

Liu Yang

Keyword(s):

Control System ◽

Piezoelectric Ceramic ◽

Degree Of Freedom ◽

Movement Direction ◽

Fuzzy Pid ◽

Modeling Analysis ◽

Coupling Dynamics ◽

Coupling Dynamic ◽

Three Degree Of Freedom ◽

Actual Trajectory

For further research on the microparticles trajectory in the process of micromanipulation, the paper modeled on the coupling dynamic of three-degree-of-freedom micromanipulator which is based on piezoelectric ceramic. In the micromanipulation, the transformation of certain movement direction can generate a corresponding change in the coupling in three-degree-of-freedom micromanipulator movement, the fuzzy PID method was adopted by the control system of this study, and the modeling analysis was performed on the control system. After completing the above modeling, the simulation model is built by the MATLAB Simulink software. The simulation output results are basically in accordance with the actual trajectory, which achieve the successful research purposes of coupling dynamics model for three-degree-of-freedom micromanipulator and application of fuzzy PID method.

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