Point-to-point robot motion optimization based on the state parametrization

2005 ◽  
Author(s):  
Yimin Zhang
Keyword(s):  
The State ◽  
Robot Motion ◽  
Motion Optimization ◽  
Point To Point

Differentially Flat Designs of Underactuated Mobile Manipulators

2010 ◽  
Vol 132 (2) ◽  
Author(s):  
Ji-Chul Ryu ◽  
Vivek Sangwan ◽  
Sunil K. Agrawal
Keyword(s):  
State Space ◽  
Controller Design ◽  
The State ◽  
Mobile Manipulator ◽  
Mobile Manipulators ◽  
Combined System ◽  
Mobile Vehicle ◽  
Highly Nonlinear ◽  
Point To Point ◽  
Challenging Question

This paper presents a methodology for design of mobile vehicles, mounted with underactuated manipulators operating in a horizontal plane, such that the combined system is differentially flat. A challenging question of how to perform point-to-point motions in the state space of such a highly nonlinear system, in spite of the absence of some actuators in the arm, is answered in this paper. We show that, by appropriate inertia distribution of the links and addition of torsion springs at the joints, a range of underactuated designs is possible, where the underactuated mobile manipulator system is differentially flat. The differential flatness property allows one to efficiently solve the problem of trajectory planning and feedback controller design for point-to-point motions in the state space. The proposed method is illustrated by the example of a mobile vehicle with an underactuated three-link manipulator.

Mobile Robot Motion Planning to Avoid Obstacle Using Modified Ant Colony Optimization

2015 ◽  
Vol 776 ◽  
pp. 396-402 ◽  
Author(s):  
Nukman Habib ◽  
Adi Soeprijanto ◽  
Djoko Purwanto ◽  
Mauridhi Hery Purnomo
Keyword(s):  
Mobile Robot ◽  
Motion Planning ◽  
Ant Colony Optimization ◽  
Optimal Path ◽  
Initial Position ◽  
Ant Colony ◽  
Robot Motion ◽  
Complex Environments ◽  
Point To Point ◽  
Global Planning

The ability of mobile robot to move about the environment from initial position to the goal position, without colliding the obstacles is needed. This paper presents about motion planning of mobile robot (MR) in obstacles-filled workspace using the modified Ant Colony Optimization (M-ACO) algorithm combined with the point to point (PTP) motion in achieving the static goal. Initially, MR try to plan the path to reach a goal, but since there are obstacles on the path will be passed through so nodes must be placed around the obstacles. Then MR do PTP motion through this nodes chosen by M-ACO, in order to form optimal path from the choice nodes until the last node that is free from obstacles. The proposed approach shows that MR can not only avoid collision with obstacle but also make a global planning path. The simulation result have shown that the proposed algorithm is suitable for MR motion planning in the complex environments with less running time.

DESIGN AND DEVELOPMENT OF LEAD-THROUGH PROGRAMMING METHOD USING LOW COST INCREMENTAL ENCODER FEEDBACK

2015 ◽  
Vol 77 (20) ◽  
Author(s):  
Muhammad Fahmi Miskon ◽  
Sameh Mohsen Omer Kanzal ◽  
Muhammad Herman Jamaluddin ◽  
Ahmad Zaki Shukor ◽  
Fariz Ali
Keyword(s):  
Low Cost ◽  
Robotic Arm ◽  
Robot Programming ◽  
Robot Motion ◽  
White Board ◽  
Accuracy And Precision ◽  
Incremental Encoder ◽  
Point To Point ◽  
Amount Of Knowledge ◽  
User Friendly

Recently robots are widely used in a various field particularly in the industry. Despite this fact robot still requires an undeniable amount of knowledge from the operators or workers who deal with them. As a result, robots cannot be easily programmed if the operator or the worker is not experienced in robotics field. One of the programming methods that has been introduced to make programming task user friendly is lead-through robot programming. However, the existing lead-through programming methods still requires an amount of knowledge that is not available for most of the operators and workers. The main objective of this project is to design a lead through method for point to point robot programming using incremental encoder feedback, which can record, save and playback the robot motion while considering the accuracy and precision of the robot. To validate the method, experiments were conducted in this project, where an operator manually moves a two DOF (degree of freedom) robotic arm on a white board while the encoder feedback was recorded and later played back by the robot. Then both recorded and playback trajectories were compared and analyzed. The result shows that the played back accuracy is 96.17% for motor 1 and 97.86% for motor 2 with standard deviation of 0.9593 for motor 1 and 2.33583 for motor 2.

scholarly journals Point-to-point motion control for flexible crane systems working in the deep sea

2020 ◽  
Vol 53 (7-8) ◽  
pp. 1041-1048
Author(s):  
Yue Wang ◽  
Ning Sun ◽  
Yiming Wu ◽  
Xinwei Chen ◽  
Yongchun Fang
Keyword(s):  
Deep Sea ◽  
The State ◽  
Marine Resources ◽  
State Variables ◽  
Resource Exploitation ◽  
Satisfactory Performance ◽  
Point Motion ◽  
Set Up ◽  
Point To Point ◽  
Working Efficiency

At present, marine resources, especially the deep-sea resources, are becoming more and more important in resource exploitation globally, and hence, widely used deep-sea cranes are playing essential roles. For such systems, the bridge frames and trolleys are set up above the water, while payloads are transported under the water. In this underwater situation, there exist hydrodynamic forces such as complicated disturbances to the crane systems, making the payload vibration and rope flexibility more obvious. For the sake of improving working efficiency, considering the constraints of all the state variables, an anti-vibration trajectory is designed for the trolley motion, which can not only ensure trolley positioning but also suppress the flexible payload’s vibrations. Then, the state variables are constrained within preset safety ranges. Finally, numerical simulation results prove the satisfactory performance of the designed method.

Accurate Robot Motion-Time Model of Start/Stop Point-to-Point Operations

1996 ◽  
Vol 118 (4) ◽  
pp. 531-538
Author(s):  
Ching-Cheng Wang
Keyword(s):  
Prediction Error ◽  
Time Function ◽  
Industrial Robots ◽  
Robot Motion ◽  
Time Model ◽  
Velocity Feedback ◽  
Motion Time ◽  
Target Profile ◽  
Point To Point ◽  
Stop Point

An accurate robot motion-time (ARM-Time) model is explored to be used in predicting, with an unprecedented accuracy, the motion time of start/stop point-to-point operations. Unlike the existing motion-time models observing only the velocity feedback controller’s target profile, the ARM-Time model adequately characterizes the motion time function of position and velocity feedback robots. The ARM-Time model has been applied to predict motion times of the IBM 7547, IBM 7545 and PUMA 560 industrial robots. The comparison of predicted and measured motion times reveals a less than 1 percent prediction error for the IBM 7547 and IBM 7545 robots, and about 0.3 percent for the PUMA 560 robot.

scholarly journals About Partial Reachability Issues in an SEIR Epidemic Model and Related Infectious Disease Tracking in Finite Time under Vaccination and Treatment Controls

2021 ◽  
Vol 2021 ◽  
pp. 1-21
Author(s):  
Manuel De la Sen ◽  
Asier Ibeas ◽  
Raul Nistal
Keyword(s):  
Epidemic Model ◽  
Finite Time ◽  
Adaptive Sampling ◽  
Ad Hoc ◽  
The State ◽  
Time Interval ◽  
Control Effort ◽  
Control Objective ◽  
Output Controllability ◽  
Point To Point

This paper studies some basic properties of an SEIR (Susceptible-Exposed-Infectious-Recovered) epidemic model subject to vaccination and treatment controls. Firstly, the basic stability, boundedness, and nonnegativity of the state trajectory solution are investigated. Then, the problem of partial state reachability from a certain state value to a targeted one in finite time is focused on since it turns out that epidemic models are, because of their nature, neither (state) controllable from a given state to the origin nor reachable from a given initial condition. The particular formal statement of the partial reachability is focused on as a problem of output-reachability by defining a measurable output or lower dimension than that of the state. A special case of interest is that when the output is defined as the infectious subpopulation to be step-to-step tracked under suitable amounts being compatible with the required constraints. As a result, and provided that the output-controllability Gramian is nonsingular on a certain time interval of interest, a feedback control effort might be designed so that a prescribed value of the output can be approximately tracked. A linearization approximation is performed to simplify and facilitate the above task which is based on a point-to-point linearization of the solution trajectory. To this end, an “ad hoc” sampled approximate output trajectory is defined as control objective to be targeted through a point-wise calculated Jacobian matrix. A supervised appropriate restatement of the targeted suited sampled output values is redefined, if necessary, to make the initial proposed sampled trajectory compatible with the various needed constraints on nonnegativity and control boundedness. The design can be optionally performed under constant or adaptive sampling rates. Finally, some numerical examples are given to test the theoretical aspects and the design efficiency of the model.

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