Fuzzy Logic-based Techniques for Motion Planning of a Robot Manipulator Amongst Unknown Moving Obstacles

Robotica ◽  
1992 ◽  
Vol 10 (6) ◽  
pp. 563-574 ◽  
Author(s):  
Anupam Bagchi ◽  
Himanshu Hatwal
Keyword(s):  
Motion Planning ◽  
Fuzzy Controller ◽  
Robot Manipulator ◽  
Dynamic Environment ◽  
Geometric Approach ◽  
The Body ◽  
Sensory Data ◽  
Revolute Joints ◽  
Manipulator Link ◽  
Kinematic Motion

SUMMARYAn algorithm for kinematic motion planning of redundant planar robots, having revolute joints, in an unknown dynamic environment is presented. Distance ranging sensors, mounted on the body of each manipulator link, are simulated here to estimate the proximity of an obstacle. The sensory data is analyzed through a fuzzy controller which estimates whether a collision is imminent, and if so, employs a geometric approach to compute the joint movements necessary to avoid the collision. Obstacles can sometimes move uncompromisingly in the environment attempting a deliberate collision. Strategies to deal with such cases are presented and recovery procedures to circumvent the obstacle from tight corners are suggested. Cases of link overlap have been avoided by considering each link as a body which is sensed as an obstacle by every other link of the same manipulator. Suitable examples are presented to demonstrate the algorithm.

scholarly journals IoT-enabled directed acyclic graph in spark cluster

2020 ◽  
Vol 9 (1) ◽  
Author(s):  
Jahwan Koo ◽  
Nawab Muhammad Faseeh Qureshi ◽  
Isma Farah Siddiqui ◽  
Asad Abbas ◽  
Ali Kashif Bashir
Keyword(s):  
Distributed Computing ◽  
Real Time ◽  
Directed Acyclic Graph ◽  
Random Access ◽  
Heterogeneous Data ◽  
The Body ◽  
Computing Environment ◽  
Time Data ◽  
Acyclic Graph ◽  
Sensory Data

Abstract Real-time data streaming fetches live sensory segments of the dataset in the heterogeneous distributed computing environment. This process assembles data chunks at a rapid encapsulation rate through a streaming technique that bundles sensor segments into multiple micro-batches and extracts into a repository, respectively. Recently, the acquisition process is enhanced with an additional feature of exchanging IoT devices’ dataset comprised of two components: (i) sensory data and (ii) metadata. The body of sensory data includes record information, and the metadata part consists of logs, heterogeneous events, and routing path tables to transmit micro-batch streams into the repository. Real-time acquisition procedure uses the Directed Acyclic Graph (DAG) to extract live query outcomes from in-place micro-batches through MapReduce stages and returns a result set. However, few bottlenecks affect the performance during the execution process, such as (i) homogeneous micro-batches formation only, (ii) complexity of dataset diversification, (iii) heterogeneous data tuples processing, and (iv) linear DAG workflow only. As a result, it produces huge processing latency and the additional cost of extracting event-enabled IoT datasets. Thus, the Spark cluster that processes Resilient Distributed Dataset (RDD) in a fast-pace using Random access memory (RAM) defies expected robustness in processing IoT streams in the distributed computing environment. This paper presents an IoT-enabled Directed Acyclic Graph (I-DAG) technique that labels micro-batches at the stage of building a stream event and arranges stream elements with event labels. In the next step, heterogeneous stream events are processed through the I-DAG workflow, which has non-linear DAG operation for extracting queries’ results in a Spark cluster. The performance evaluation shows that I-DAG resolves homogeneous IoT-enabled stream event issues and provides an effective stream event heterogeneous solution for IoT-enabled datasets in spark clusters.

Safety-field based motion planning for proactive autonomous driving in dynamic environment

2020 ◽  
Author(s):  
Mingyang Cui ◽  
Haoran Wu ◽  
Xiaocong Zhao ◽  
Qing Xu ◽  
Jianqiang Wang
Keyword(s):  
Motion Planning ◽  
Dynamic Environment ◽  
Autonomous Driving

The Effect of Head Tilt on Perception of Self-Orientation While in a Greater than One G Environment

1995 ◽  
Vol 5 (1) ◽  
pp. 1-17
Author(s):  
Tamara L. Chelette ◽  
Eric J. Martin ◽  
William B. Albery
Keyword(s):  
Dynamic Environment ◽  
Head Tilt ◽  
Nonlinear Function ◽  
Longitudinal Axis ◽  
Multiple Regression Model ◽  
The Body ◽  
Hand Position ◽  
Haptic Information ◽  
Perception Of Self ◽  
Constant Head

The effect of head tilt on the perception of self-orientation while in a greater than one G environment was studied in nine subjects using the Armstrong Laboratory Dynamic Environment Simulator. After a 12-s stabilization period at a constant head tilt and G level, subjects reported their perception of the horizon by placing their right hand in a position they believed to be horizontal. Head tilt conditions ranged from -30° to +45° pitch over each of three head yaw positions. G levels ranged from one to four and were in the longitudinal axis of the body (Gz). Hand position was recorded in both the pitch and roll body axes. A function of head tilt did improve the fit of a multiple regression model to the collected data in both the pitch and roll axes (P < .05). The best fit was accomplished with a nonlinear function of G and head pitch. When the head remained level but the environment tilted with respect to the G vector (at angles similar to those perceived during head tilt), subjects accurately reported the environmental tilt. Head tilt under G can result in vestibular-based illusionary perception of environmental tilt. Actual environmental tilt is accurately perceived due to added channels of haptic information.

Recursive Newton-Euler Dynamics and Sensitivity Analysis for Robot Manipulator With Revolute Joints

2021 ◽  
Author(s):  
Shuvrodeb Barman ◽  
Yujiang Xiang
Keyword(s):  
Sensitivity Analysis ◽  
Robot Manipulator ◽  
Revolute Joints

On the Optimal Robot Manipulator Motion Planning for Solid Freeform Fabrication by Thermal Spraying

1995 ◽  
Author(s):  
J. Rastegar ◽  
Y. Qin ◽  
Q. Tu
Keyword(s):  
Motion Planning ◽  
Robot Manipulator ◽  
Solid Freeform Fabrication ◽  
Thermal Spraying ◽  
Freeform Fabrication ◽  
Novel Approach ◽  
Solid Objects ◽  
Optimal Motion Planning ◽  
Spatial Geometry ◽  
Probabilistic Nature

Abstract A novel approach to optimal robot manipulator motion planning for Solid Freeform Fabrication (SFF) by thermal spraying is presented. In this approach, given the desired spatial geometry of the object, the motion of the spray gun relative to a forming platform is synthesized for minimal masking requirements considering the probabilistic nature of the thermal spraying process. The material build-up rate can be planned to achieve the desired distribution of the physical/material properties within the object volume. Examples of optimal motion planning for the generation of some basic solid objects and computer simulation of the effectiveness of the developed methodology are presented.

scholarly journals Nonholonomic Motion Planning for Coupled Planar Rigid Bodies with Passive Revolute Joints.

2000 ◽  
Vol 66 (642) ◽  
pp. 553-560 ◽  
Author(s):  
Naoji SHIROMA ◽  
Hirohiko ARAI ◽  
Kazuo TANIE
Keyword(s):  
Motion Planning ◽  
Rigid Bodies ◽  
Revolute Joints ◽  
Nonholonomic Motion Planning

Pseudoinverse-type bi-criteria minimization scheme for redundancy resolution of robot manipulators

Robotica ◽  
2014 ◽  
Vol 33 (10) ◽  
pp. 2100-2113 ◽  
Author(s):  
Bolin Liao ◽  
Weijun Liu
Keyword(s):  
Robot Manipulator ◽  
Robot Manipulators ◽  
Weighting Factor ◽  
Redundancy Resolution ◽  
Type Solution ◽  
Revolute Joints ◽  
Joint Velocity ◽  
Joint Acceleration ◽  
Minimum Velocity ◽  
Minimization Scheme

SUMMARYIn this paper, a pseudoinverse-type bi-criteria minimization scheme is proposed and investigated for the redundancy resolution of robot manipulators at the joint-acceleration level. Such a bi-criteria minimization scheme combines the weighted minimum acceleration norm solution and the minimum velocity norm solution via a weighting factor. The resultant bi-criteria minimization scheme, formulated as the pseudoinverse-type solution, not only avoids the high joint-velocity and joint-acceleration phenomena but also causes the joint velocity to be near zero at the end of motion. Computer simulation results based on a 4-Degree-of-Freedom planar robot manipulator comprising revolute joints further verify the efficacy and flexibility of the proposed bi-criteria minimization scheme on robotic redundancy resolution.

scholarly journals Properties of inertia of a solid body

2020 ◽  
pp. 33-37
Author(s):  
T.B. Goldvarg ◽  
◽  
V.N. Shapovalov ◽  
Keyword(s):  
Solid Body ◽  
Geometric Approach ◽  
The Body ◽  
Geometric Symmetry

Definitions are given and properties of inertial characteristics of solid are formulated; the influence of geometric symmetry of the body on its characteristics is described. The geometric approach to the presentation of the material is used.

scholarly journals The Efficient and Tentative Model for Extenics Replications of the Moveable Robots

2019 ◽  
Vol 13 (1) ◽  
pp. 1-8
Author(s):  
Koram Samuel Sakyi ◽  
Jian-Fei Lu
Keyword(s):  
Sensory System ◽  
The Body ◽  
Elementary Level ◽  
Human Beings ◽  
Mechanical Device ◽  
Muscle System ◽  
Main Structure ◽  
Sensory Data ◽  
Body Move ◽  
Tentative Model

Background: On the most elementary level, you and I (human beings) were created with five main mechanisms (or parts): • A body which is termed as the main structure of the human being. • A sensory system that takes certain information around the body and the immediate environment. • A muscle system to aid the body move easily. • A control base to trigger the muscles and sensors. • A brain system that develops sensory data and tells the muscles what to do in other words the way forward. Obviously, we likewise have some imperceptible qualities, for example, intellect and ethics, among others but on an absolute corporeal level. Robots, on the other hand, can be created with five main mechanisms or more. Objectives: This research aims at implementing robots in some tedious jobs that as supposed to be executed by human beings in various factories and industries. This study also presents the practical and tentative model for Extenics replications of the moveable mechanical device (robot) useful on VIPRO stage. Methods: Momentary antiquity and indication of the pertinent hypothetical ideas are provided. The intelligent boundary for drawn-out switch uses a novel element for synthetic intelligence which is drawn-out control (Extenics) to expand DHFPC switch rapid enactment of mobile robots. Result: Applying Extenics specific methods and application in vague interplanetary result in a novel, advanced application for the VIPRO stage which can be used to feign and device innovative switch approaches of moveable robots.

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