Structured Motion Planning in the Local Configuration Space

Robotica ◽  
1991 ◽  
Vol 9 (1) ◽  
pp. 81-92 ◽  
Author(s):  
A. M. S. Zalzala ◽  
A. S. Morris
Keyword(s):  
Configuration Space ◽  
Robot Manipulator ◽  
Time History ◽  
Geometric Constraints ◽  
Polynomial Splines ◽  
Time Motion ◽  
Local Configuration ◽  
Travelling Time ◽  
Physical Limitations ◽  
Manipulator Design

SUMMARYThe minimum-time motion of robot manipulators is solved by defining a suitable time history for the arm end-effector to traverse. As the planning is performed in the configuration space, the uniqueness of the proposed algorithm emerges from the combination of both cubic and quadratic polynomial splines. Furthermore, the highly efficient time optimisation procedure could be applied to local segments of each joint trajectory, leading to a significant reduction of the travelling time. In addition, the ability to perform a search in the work space is granted, exploiting all possible options for an optimum motion. The method proposed considers all realistic physical limitations inherent in the manipulator design, in addition to any geometric constraints imposed on the path. Simulation programs have been written, and results are reported for the Unimation PUMA 560 robot manipulator.

ADD-RRV for motion planning in complex environments

Robotica ◽  
2021 ◽  
pp. 1-18
Author(s):  
Peng Cai ◽  
Xiaokui Yue ◽  
Hongwen Zhang
Keyword(s):  
Principal Component Analysis ◽  
Motion Planning ◽  
Configuration Space ◽  
Principal Component ◽  
Component Analysis ◽  
Planning Method ◽  
Complex Environments ◽  
Local Configuration ◽  
Narrow Passage

Abstract In this paper, we present a novel sampling-based motion planning method in various complex environments, especially with narrow passages. We use online the results of the planner in the ADD-RRT framework to identify the types of the local configuration space based on the principal component analysis (PCA). The identification result is then used to accelerate the expansion similar to RRV around obstacles and through narrow passages. We also propose a modified bridge test to identify the entrance of a narrow passage and boost samples inside it. We have compared our method with known motion planners in several scenarios through simulations. Our method shows the best performance across all the tested planners in the tested scenarios.

Optimization in the Design and Control of Robotic Manipulators: A Survey

1989 ◽  
Vol 42 (4) ◽  
pp. 117-128 ◽  
Author(s):  
S. S. Rao ◽  
P. K. Bhatti
Keyword(s):  
Optimal Control ◽  
Robot Manipulator ◽  
Research Effort ◽  
Industrial Robot ◽  
Load Capacity ◽  
Robotic Manipulators ◽  
Optimization Techniques ◽  
Highly Nonlinear ◽  
Manipulator Design ◽  
And Control

Robotics is a relatively new and evolving technology being applied to manufacturing automation and is fast replacing the special-purpose machines or hard automation as it is often called. Demands for higher productivity, better and uniform quality products, and better working environments are primary reasons for its development. An industrial robot is a multifunctional and computer-controlled mechanical manipulator exhibiting a complex and highly nonlinear behavior. Even though most current robots have anthropomorphic configurations, they have far inferior manipulating abilities compared to humans. A great deal of research effort is presently being directed toward improving their overall performance by using optimal mechanical structures and control strategies. The optimal design of robot manipulators can include kinematic performance characteristics such as workspace, accuracy, repeatability, and redundancy. The static load capacity as well as dynamic criteria such as generalized inertia ellipsoid, dynamic manipulability, and vibratory response have also been considered in the design stages. The optimal control problems typically involve trajectory planning, time-optimal control, energy-optimal control, and mixed-optimal control. The constraints in a robot manipulator design problem usually involve link stresses, actuator torques, elastic deformation of links, and collision avoidance. This paper presents a review of the literature on the issues of optimum design and control of robotic manipulators and also the various optimization techniques currently available for application to robotics.

Designing Freeform Origami Tessellations by Generalizing Resch's Patterns

2013 ◽  
Vol 135 (11) ◽  
Author(s):  
Tomohiro Tachi
Keyword(s):  
Geometric Constraints ◽  
Initial Configuration ◽  
Robust Method ◽  
Polyhedral Surfaces ◽  
Folding Angle ◽  
Local Configuration ◽  
Folding Paper

In this research, we study a method to produce families of origami tessellations from given polyhedral surfaces. The resulting tessellated surfaces generalize the patterns proposed by Ron Resch and allow the construction of an origami tessellation that approximates a given surface. We will achieve these patterns by first constructing an initial configuration of the tessellated surfaces by separating each facets and inserting folded parts between them based on the local configuration. The initial configuration is then modified by solving the vertex coordinates to satisfy geometric constraints of developability, folding angle limitation, and local nonintersection. We propose a novel robust method for avoiding intersections between facets sharing vertices. Such generated polyhedral surfaces are not only applied to folding paper but also sheets of metal that does not allow 180 deg folding.

scholarly journals GlobDesOpt: A Global Optimization Framework for Optimal Robot Manipulator Design

IEEE Access ◽  
2022 ◽  
pp. 1-1
Author(s):  
Francesco Cursi ◽  
Weibang Bai ◽  
Eric M. Yeatman ◽  
Petar Kormushev
Keyword(s):  
Global Optimization ◽  
Robot Manipulator ◽  
Optimization Framework ◽  
Manipulator Design

Vision-Based Robot Manipulator Design

2011 ◽  
pp. 124-131 ◽  
Author(s):  
Ching-Chang Wong ◽  
Yi-Jiun Shen ◽  
Chih-Cheng Liu ◽  
Meng-Tzu Huang ◽  
Yu-Ren Huange ◽  
...  
Keyword(s):  
Robot Manipulator ◽  
Manipulator Design

Experimental Validation of a Dynamic Model (Equivalent Rigid Link System) on a Single-Link Flexible Manipulator

1989 ◽  
Vol 111 (4) ◽  
pp. 667-672 ◽  
Author(s):  
R. P. Petroka ◽  
Liang-Wey Chang
Keyword(s):  
Dynamic Model ◽  
Robot Manipulator ◽  
Flexible Manipulator ◽  
Flexible Manipulators ◽  
Rigid Link ◽  
Future Design ◽  
Single Link ◽  
Manipulator Design ◽  
And Control ◽  
Improved Accuracy

Flexibility effects on robot manipulator design and control are typically ignored which is justified when large, bulky robotic mechanisms are moved at slow speeds. However, when increased speed and improved accuracy are desired in robot system performance it is necessary to consider flexible manipulators. This paper simulates the motion of a single-link, flexible manipulator using the Equivalent Rigid Link System (ERLS) dynamic model and experimentally validates the computer simulation results. Validation of the flexible manipulator dynamic model is necessary to ensure confidence of the model for use in future design and control applications of flexible manipulators.

A Distributed On-Line Trajectory Generator for Intelligent Sensory-Based Manipulators

Robotica ◽  
1991 ◽  
Vol 9 (2) ◽  
pp. 145-155 ◽  
Author(s):  
A. M. S. Zalzala ◽  
A. S. Morris
Keyword(s):  
Robot Manipulator ◽  
Control Unit ◽  
Joint Space ◽  
Minimum Time ◽  
Multiprocessor System ◽  
Practical Implementation ◽  
Intelligent Robots ◽  
On Line ◽  
Manipulator Design ◽  
Line Trajectory

SUMMARYAn algorithm is presented for the on-line generation of minimum-time trajectories for robot manipulators. The algorithm is designed for intelligent robots with advanced on-board sensory equipment which can provide the position and orientation of the end-effector. Planning is performed in the configuration (joint) space by the use of optimised combined polynomial splines, along with a search technique to identify the best minimum-time trajectory. The method proposed considers all physical and dynamical limitations inherent in the manipulator design, in addition to any geometric path constraints. Meeting the demands of the heavy computations involved lead to a distributed formulation on a multiprocessor system, for which an intelligent control unit has been created to supervise its proper and practical implementation. Simulation results of a proposed case study are presented for a PUMA 560 robot manipulator.

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