Trajectory Planning of Delta Robot for Fixed Point Pick and Placement

2012 ◽  
Author(s):  
Chen Guangfeng ◽  
Zhai Linlin ◽  
Huang Qingqing ◽  
Li Lei ◽  
Shi Jiawen
Keyword(s):  
Fixed Point ◽  
Trajectory Planning ◽  
Delta Robot

Vibration reduction of delta robot based on trajectory planning

2020 ◽  
Vol 153 ◽  
pp. 104004 ◽  
Author(s):  
Mingkun Wu ◽  
Jiangping Mei ◽  
Yanqin Zhao ◽  
Wentie Niu
Keyword(s):  
Trajectory Planning ◽  
Vibration Reduction ◽  
Delta Robot

scholarly journals Quintic Pythagorean-Hodograph Curves Based Trajectory Planning for Delta Robot with a Prescribed Geometrical Constraint

2019 ◽  
Vol 9 (21) ◽  
pp. 4491 ◽  
Author(s):  
Xu Liang ◽  
Tingting Su
Keyword(s):  
Real Time ◽  
Trajectory Planning ◽  
Joint Space ◽  
Geometrical Constraint ◽  
Planning Approach ◽  
Pythagorean Hodograph ◽  
Delta Robot ◽  
Parameter Dependent ◽  
Ph Curve ◽  
The Relationship

A new trajectory planning approach on the basis of the quintic Pythagorean–Hodograph (PH) curve is presented and applied to Delta robot for implementing pick-and-place operation (PPO). To satisfy a prescribed geometrical constraint, which indicates the distance between the transition segment curve and right angle of PPO trajectory is no greater than a prescribed value, the quintic PH curve is used to produce a connection segment path for collision avoidance. The relationship between the PH curve and constraint is analyzed, based on which PH curve is calculated simply. Afterwards, the trajectory is planned in different phases with different motion laws, i.e. polynomial motion laws and PH curve parameter-dependent motion laws, to obtain a smooth performance both in Cartesian and joint space. The relationship between the PH curve and constraint is also used to improve the efficiency of calculation, and the trajectory symmetry is used to reduce calculation time by direct symmetric transformation. Thus, real-time performance is improved. The results of simulations and experiments indicate that the approach in this paper can provide smooth motion and meet the real-time requirement under the prescribed geometrical constraint.

scholarly journals Time-Optimal Trajectory Planning for Delta Robot Based on Quintic Pythagorean-Hodograph Curves

IEEE Access ◽  
2018 ◽  
Vol 6 ◽  
pp. 28530-28539 ◽  
Author(s):  
Tingting Su ◽  
Long Cheng ◽  
Yunkuan Wang ◽  
Xu Liang ◽  
Jun Zheng ◽  
...  
Keyword(s):  
Trajectory Planning ◽  
Optimal Trajectory ◽  
Pythagorean Hodograph ◽  
Time Optimal ◽  
Delta Robot ◽  
Optimal Trajectory Planning

Mental equilibrium: Identifying fixed-point attractors in the stream of thought

2003 ◽  
Author(s):  
Robin R. Vallacher ◽  
Andrzej Nowak ◽  
Matthew Rockloff
Keyword(s):  
Fixed Point

Bifurcation in a Simple Model of the Cardiovascular System

2000 ◽  
Vol 39 (02) ◽  
pp. 118-121 ◽  
Author(s):  
S. Akselrod ◽  
S. Eyal
Keyword(s):  
Nonlinear Dynamics ◽  
Blood Pressure ◽  
Heart Rate ◽  
Fixed Point ◽  
Cardiovascular System ◽  
Modified Model ◽  
Mayer Waves ◽  
Sustained Oscillations ◽  
Human Cardiovascular System ◽  
Physiological Values

Abstract:A simple nonlinear beat-to-beat model of the human cardiovascular system has been studied. The model, introduced by DeBoer et al. was a simplified linearized version. We present a modified model which allows to investigate the nonlinear dynamics of the cardiovascular system. We found that an increase in the -sympathetic gain, via a Hopf bifurcation, leads to sustained oscillations both in heart rate and blood pressure variables at about 0.1 Hz (Mayer waves). Similar oscillations were observed when increasing the -sympathetic gain or decreasing the vagal gain. Further changes of the gains, even beyond reasonable physiological values, did not reveal another bifurcation. The dynamics observed were thus either fixed point or limit cycle. Introducing respiration into the model showed entrainment between the respiration frequency and the Mayer waves.

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