Motion planning and control of gantry cranes in cluttered work environment

2007 ◽  
Vol 1 (5) ◽  
pp. 1370-1379 ◽  
Author(s):  
W. Blajer ◽  
K. Kołodziejczyk
Keyword(s):  
Motion Planning ◽  
Work Environment ◽  
Planning And Control ◽  
And Control ◽  
Gantry Cranes

Periodic motion planning and control for underactuated mechanical systems

2017 ◽  
Vol 91 (6) ◽  
pp. 1350-1362 ◽  
Author(s):  
Zeguo Wang ◽  
Leonid B. Freidovich ◽  
Honghua Zhang
Keyword(s):  
Motion Planning ◽  
Periodic Motion ◽  
Mechanical Systems ◽  
Underactuated Mechanical Systems ◽  
Planning And Control ◽  
And Control

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.

In Search of the Jerk Element

2021 ◽  
Author(s):  
Zachary P. Belyaev ◽  
Samuel N. Downes ◽  
Philip A. Voglewede
Keyword(s):  
Magnetic Field ◽  
Motion Planning ◽  
System Performance ◽  
Theoretical Background ◽  
Physical Parameters ◽  
Common Elements ◽  
Planning And Control ◽  
Magneto Rheological ◽  
And Control ◽  
The Magnetic Field

Abstract Mechanical components, such as springs, dampers and mass, alter and influence an engineered system’s motion based upon a system’s position, velocity and acceleration, respectively. This paper aims to discover and develop another element (dubbed the damper) which provides a force proportional to a system’s jerk (i.e., the derivative of acceleration) to better engineer a system’s response. By utilizing the known applications of jerk in motion planning and control theory, existing possible physical implementations and uses of jerk and the jerk element are discussed in relation to its influence on the system’s response, specifically vibration. Using a Buckingham Pi approach, the theoretical background of the jerk element is presented and possible physical parameters are combined to show how the jerk element could be created from common elements and parameters. The most promising approach of varying the magnetic field of existing magneto-rheological dampers is developed to give an example of the jerk element along with the difficulties and concerns in developing the jerk element. This paper serves less of a purpose towards answering all questions of the jerk element, but rather focuses more on posing the appropriate questions which sets the stage for an easily realizable future jerk element which can improve system performance.

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