scholarly journals Motion planning and posture control of multiple n-link doubly nonholonomic manipulators

Robotica ◽  
2015 ◽  
Vol 35 (1) ◽  
pp. 1-25 ◽  
Author(s):  
Bibhya Sharma ◽  
Jito Vanualailai ◽  
Shonal Singh
Keyword(s):  
Motion Planning ◽  
Computer Simulations ◽  
Arbitrary Number ◽  
Posture Control ◽  
Mobile Manipulators ◽  
Moving Obstacles ◽  
The Past ◽  
Control Scheme ◽  
Lyapunov Control ◽  
Final Orientation

SUMMARYThe paper considers the problem of motion planning and posture control of multiple n-link doubly nonholonomic mobile manipulators in an obstacle-cluttered and bounded workspace. The workspace is constrained with the existence of an arbitrary number of fixed obstacles (disks, rods and curves), artificial obstacles and moving obstacles. The coordination of multiple n-link doubly nonholonomic mobile manipulators subjected to such constraints becomes therefore a challenging navigational and steering problem that few papers have considered in the past. Our approach to developing the controllers, which are novel decentralized nonlinear acceleration controllers, is based on a Lyapunov control scheme that is not only intuitively understandable but also allows simple but rigorous development of the controllers. Via the scheme, we showed that the avoidance of all types of obstacles was possible, that the manipulators could reach a neighborhood of their goal and that their final orientation approximated the desired orientation. Computer simulations illustrate these results.

scholarly journals Human-Following Motion Planning and Control Scheme for Collaborative Robots Based on Human Motion Prediction

2021 ◽  
Author(s):  
Fahad Iqbal Khawaja ◽  
Akira Kanazawa ◽  
Jun Kinugawa ◽  
Kazuhiro Kosuge
Keyword(s):  
Motion Planning ◽  
Human Motion ◽  
Human Robot Interaction ◽  
Collaborative Robots ◽  
Sensing System ◽  
Planning And Control ◽  
Control Scheme ◽  
Active Research ◽  
And Control ◽  
Collaborative Robot

Human-Robot Interaction (HRI) for collaborative robots has become an active research topic recently. Collaborative robots assist the human workers in their tasks and improve their efficiency. But the worker should also feel safe and comfortable while interacting with the robot. In this paper, we propose a human-following motion planning and control scheme for a collaborative robot which supplies the necessary parts and tools to a worker in an assembly process in a factory. In our proposed scheme, a 3-D sensing system is employed to measure the skeletal data of the worker. At each sampling time of the sensing system, an optimal delivery position is estimated using the real-time worker data. At the same time, the future positions of the worker are predicted as probabilistic distributions. A Model Predictive Control (MPC) based trajectory planner is used to calculate a robot trajectory that supplies the required parts and tools to the worker and follows the predicted future positions of the worker. We have installed our proposed scheme in a collaborative robot system with a 2-DOF planar manipulator. Experimental results show that the proposed scheme enables the robot to provide anytime assistance to a worker who is moving around in the workspace while ensuring the safety and comfort of the worker.

Design and Analysis of Computer Experiments

2017 ◽  
pp. 264-279
Author(s):  
Xinwei Deng ◽  
Ying Hung ◽  
C. Devon Lin
Keyword(s):  
Complex Systems ◽  
Mathematical Models ◽  
Gaussian Process ◽  
Computer Simulations ◽  
Process Modeling ◽  
Computer Experiments ◽  
Space Filling ◽  
Science And Engineering ◽  
The Past ◽  
Statistical Approaches

Computer experiments refer to the study of complex systems using mathematical models and computer simulations. The use of computer experiments becomes popular for studying complex systems in science and engineering. The design and analysis of computer experiments have received broad attention in the past decades. In this chapter, we present several widely used statistical approaches for design and analysis of computer experiments, including space-filling designs and Gaussian process modeling. A special emphasis is given to recently developed design and modeling techniques for computer experiments with quantitative and qualitative factors.

A Hybrid Photovoltaic-Fuel Cell-Based Single-Stage Grid Integration With Lyapunov Control Scheme

2020 ◽  
Vol 14 (3) ◽  
pp. 3334-3342 ◽  
Author(s):  
Neeraj Priyadarshi ◽  
Sanjeevikumar Padmanaban ◽  
Mahajan Sagar Bhaskar ◽  
Frede Blaabjerg ◽  
Jens Bo Holm-Nielsen ◽  
...  
Keyword(s):  
Fuel Cell ◽  
Single Stage ◽  
Grid Integration ◽  
Control Scheme ◽  
Lyapunov Control

Dynamic optimal payload path planning of mobile manipulators among moving obstacles

2014 ◽  
Vol 28 (20) ◽  
pp. 1389-1402 ◽  
Author(s):  
M.H. Korayem ◽  
M. Nazemizadeh ◽  
H.N. Rahimi
Keyword(s):  
Path Planning ◽  
Mobile Manipulators ◽  
Moving Obstacles

Planning and Navigation by a Mobile Robot in the Presence of Multiple Moving Obstacles and Their Velocities

1996 ◽  
Vol 8 (1) ◽  
pp. 58-66 ◽  
Author(s):  
Takashi Tsubouchi ◽  
◽  
Tomohide Naniwa ◽  
Suguru Arimoto ◽  
◽  
...  
Keyword(s):  
Mobile Robot ◽  
Computer Simulations ◽  
Constant Velocity ◽  
Moving Obstacles ◽  
Navigation Algorithm ◽  
Planning Approach ◽  
Feasible Path ◽  
Navigation Scheme

This paper presents a navigation scheme for a mobile robot which works even in an environment with multiple moving obstacles. An “iterated forecast and planning” approach is proposed by the authors. It is assumed that each obstacle moves at a constant velocity in the approach. The most feasible path for a robot is planned in (x,y,t) space. The planning and motion execution according to the plan are iterated frequently to cope with changes of motion of the moving obstacles. The behavior of the proposed navigation algorithm is also presented by means of computer simulations.

Sign in / Sign up

Export Citation Format

Share Document