Energy-Optimal Multi-Goal Motion Planning for Planar Robot Manipulators

2014 ◽  
Vol 163 (1) ◽  
pp. 80-104 ◽  
Author(s):  
Pierre Bonami ◽  
Alberto Olivares ◽  
Ernesto Staffetti
Keyword(s):  
Motion Planning ◽  
Robot Manipulators ◽  
Planar Robot

scholarly journals Time-optimal motion planning for n-DOF robot manipulators using a path-parametric system reformulation

2016 ◽  
Author(s):  
Robin Verschueren ◽  
Niels van Duijkeren ◽  
Jan Swevers ◽  
Moritz Diehl
Keyword(s):  
Motion Planning ◽  
Robot Manipulators ◽  
Optimal Motion ◽  
Parametric System ◽  
Optimal Motion Planning ◽  
Time Optimal

Fuzzy motion planning among dynamic obstacles using artificial potential fields for robot manipulators

2000 ◽  
Vol 32 (1) ◽  
pp. 61-72 ◽  
Author(s):  
Jean Bosco Mbede ◽  
Xinhan Huang ◽  
Min Wang
Keyword(s):  
Motion Planning ◽  
Robot Manipulators ◽  
Potential Fields ◽  
Artificial Potential Fields

Different-Level Schemes’ Equivalence for Self-Motion Planning of Robot Manipulators

2012 ◽  
pp. 9-16 ◽  
Author(s):  
Yunong Zhang ◽  
Huarong Wu ◽  
Zhijun Zhang ◽  
Senbo Fu ◽  
Yonghua Yin
Keyword(s):  
Motion Planning ◽  
Robot Manipulators ◽  
Self Motion

A new feedback-added obstacle avoidance scheme for motion planning of redundant robot manipulators

2017 ◽  
Author(s):  
Dongsheng Guo ◽  
Zhaozhu Su ◽  
Sibo Sun ◽  
Xinjie Lin ◽  
Qingping Liu
Keyword(s):  
Motion Planning ◽  
Obstacle Avoidance ◽  
Robot Manipulators ◽  
Redundant Robot

Computer Aided Synthesis of Piecewise Rational Motions for Spherical 2R and 3R Robot Arms

2008 ◽  
Vol 130 (11) ◽  
Author(s):  
Anurag Purwar ◽  
Zhe Jin ◽  
Q. J. Ge
Keyword(s):  
Motion Planning ◽  
Spline Interpolation ◽  
Robot Arm ◽  
Spherical Robot ◽  
Kinematic Constraints ◽  
Robot Arms ◽  
Revolute Joints ◽  
Computer Aided ◽  
Planar Robot ◽  
Circular Interpolation

This paper deals with the problem of synthesizing smooth piecewise rational spherical motions of an object that satisfies the kinematic constraints imposed by a spherical robot arm with revolute joints. This paper brings together the kinematics of spherical robot arms and recently developed freeform rational motions to study the problem of synthesizing constrained rational motions for Cartesian motion planning. The kinematic constraints under consideration are workspace related constraints that limit the orientation of the end link of robot arms. This paper extends our previous work on synthesis of rational motions under the kinematic constraints of planar robot arms. Using quaternion kinematics of spherical arms, it is shown that the problem of synthesizing the Cartesian rational motion of a 2R arm can be reduced to that of circular interpolation in two separate planes. Furthermore, the problem of synthesizing the Cartesian rational motion of a spherical 3R arm can be reduced to that of constrained spline interpolation in two separate planes. We present algorithms for the generation of C1 and C2 continuous rational motion of spherical 2R and 3R robot arms.

Computer Aided Synthesis of Piecewise Rational Motions for Planar 2R and 3R Robot Arms

2006 ◽  
Vol 129 (10) ◽  
pp. 1031-1036 ◽  
Author(s):  
Zhe Jin ◽  
Q. J. Ge
Keyword(s):  
Motion Planning ◽  
Spline Interpolation ◽  
Circular Ring ◽  
Robot Arm ◽  
Kinematic Constraints ◽  
Robot Arms ◽  
Revolute Joints ◽  
Computer Aided ◽  
Planar Robot ◽  
Circular Interpolation

This paper deals with the problem of synthesizing piecewise rational motions of an object that satisfies kinematic constraints imposed by a planar robot arm with revolute joints. This paper brings together the kinematics of planar robot arms and the recently developed freeform rational motions to study the problem of synthesizing constrained rational motions for Cartesian motion planning. Through the use of planar quaternions, it is shown that for the case of a planar 2R arm, the problem of rational motion synthesis can be reduced to that of circular interpolations in two separate planes and that for the case of a planar 3R arm, the problem can be reduced to a combination of circular interpolation in one plane and a constrained spline interpolation in a circular ring on another plane. Due to the limitation of circular interpolation, only C1 continuous rational motions are generated that satisfy the kinematic constraints exactly. For applications that require C2 continuous motions, this paper presents a method for generating C2 continuous motions that approximate the kinematic constraints for planar 2R and 3R robot arms.

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