General Lagrangian Jacobian motion planning algorithm for affine robotic systems with application to a space manipulator

2017 ◽  
Author(s):  
Krzysztof Tchon ◽  
Joanna Ratajczak
Keyword(s):  
Motion Planning ◽  
Robotic Systems ◽  
Space Manipulator ◽  
Planning Algorithm ◽  
Jacobian Motion Planning

scholarly journals Lagrangian Jacobian Motion Planning: A Parametric Approach

2016 ◽  
Vol 85 (3-4) ◽  
pp. 511-522 ◽  
Author(s):  
Ida Góral ◽  
Krzysztof Tchoń
Keyword(s):  
Motion Planning ◽  
System Performance ◽  
Orthogonal Series ◽  
Robotic Systems ◽  
Planning Problem ◽  
Rolling Ball ◽  
Control Functions ◽  
Planning Algorithm ◽  
Jacobian Motion Planning ◽  
Motion Planning Problem

AbstractThis paper addresses the motion planning problem of nonholonomic robotic systems. The system’s kinematics are described by a driftless control system with output. It is assumed that the control functions are represented in a parametric form, as truncated orthogonal series. A new motion planning algorithm is proposed based on the solution of a Lagrange-type optimisation problem stated in the linear approximation of the parametrised system. Performance of the algorithm is illustrated by numeric computations for a motion planning problem of the rolling ball.

scholarly journals State-Dependent Riccati Equation Control for Motion Planning of Space Manipulator Carrying a Heavy Payload

2015 ◽  
Vol 9 (1) ◽  
pp. 851-858 ◽  
Author(s):  
Qingxuan Jia ◽  
Yong Liu ◽  
Gang Chen ◽  
Hanxu Sun
Keyword(s):  
Motion Planning ◽  
Riccati Equation ◽  
Performance Indicator ◽  
Tracking Error ◽  
Tracking Accuracy ◽  
Space Manipulator ◽  
Joint Torques ◽  
Control Approach ◽  
State Dependent ◽  
Planning Algorithm

In this paper, a nonlinear optimal control approach is proposed to plan the motion of a redundant free-floating space manipulator (FFSM) when carrying a heavy payload. Optimal joint trajectories are determined to track a desired end-effector path, for which limitations of the manipulator’s load-carrying capacity and tracking accuracy are simultaneously considered. In this method, FFSM is described as a nonlinear system using the dynamics equation. The integrated performance indicator is proposed as the cost function, which includes tracking error punishment of the endeffector, joint-torques optimization, total energy improvement and instability avoidance of the base. Then the statedependent Riccati equation (SDRE) is established and solved by Taylor series approximation method. The motion planning algorithm is presented, subject to multi-constraints. Simulations are performed for a 7-DOF space manipulator and the results are discussed to illustrate the effectiveness of the proposed approach.

scholarly journals State-Dependent Riccati Equation Control for Motion Planning of Space Manipulator Carrying a Heavy Payload

2015 ◽  
Vol 9 (1) ◽  
pp. 992-999 ◽  
Author(s):  
Qingxuan Jia ◽  
Yong Liu ◽  
Gang Chen ◽  
Hanxu Sun
Keyword(s):  
Motion Planning ◽  
Riccati Equation ◽  
Performance Indicator ◽  
Tracking Error ◽  
Tracking Accuracy ◽  
Space Manipulator ◽  
Joint Torques ◽  
Control Approach ◽  
State Dependent ◽  
Planning Algorithm

In this paper, a nonlinear optimal control approach is proposed to plan the motion of a redundant free-floating space manipulator (FFSM) when carrying a heavy payload. Optimal joint trajectories are determined to track a desired end-effector path, for which limitations of the manipulator’s load-carrying capacity and tracking accuracy are simultaneously considered. In this method, FFSM is described as a nonlinear system using the dynamics equation. The integrated performance indicator is proposed as the cost function, which includes tracking error punishment of the endeffector, joint-torques optimization, total energy improvement and instability avoidance of the base. Then the statedependent Riccati equation (SDRE) is established and solved by Taylor series approximation method. The motion planning algorithm is presented, subject to multi-constraints. Simulations are performed for a 7-DOF space manipulator and the results are discussed to illustrate the effectiveness of the proposed approach.

scholarly journals Design and Motion Planning of a Biped Climbing Robot with Redundant Manipulator

2019 ◽  
Vol 9 (15) ◽  
pp. 3009 ◽  
Author(s):  
Qing Chang ◽  
Xiao Luo ◽  
Zhixia Qiao ◽  
Qian Li
Keyword(s):  
Motion Planning ◽  
Degrees Of Freedom ◽  
System Development ◽  
Robotic Systems ◽  
Climbing Robot ◽  
Redundant Manipulator ◽  
Railway Bridges ◽  
Planning Algorithm ◽  
Inspection Tasks ◽  
Maintenance And Inspection

A novel robot capable of performing maintenance and inspection tasks for railway bridges is proposed in this paper. Termed CMBOT (climbing manipulator robot), the robot is a combination of a five-degrees-of-freedom (5-Dof) biped climbing robot with two electromagnetic feet and a redundant manipulator with 7-Dof. This capability offers important advantages for performing maintenance and inspection tasks for railway bridges. Several fundamental issues of the CMBOT, such as robotic system development and motion planning algorithms, are addressed in this paper. A series of simulations and prototype experiments were conducted to validate the proposed robotic systems and motion planning algorithm. The results of the experiments show the reliability of the robotic systems and the efficiency of the motion planning algorithm.

scholarly journals Modeling and control of a skid-steering mobile platform with coupled side wheels

2015 ◽  
Vol 63 (3) ◽  
pp. 807-818 ◽  
Author(s):  
K. Tchoń ◽  
K. Zadarnowska ◽  
Ł. Juszkiewicz ◽  
K. Arent
Keyword(s):  
Motion Planning ◽  
Predictive Control ◽  
Mobile Platform ◽  
Planning Problem ◽  
Modeling And Control ◽  
Control Approach ◽  
Planning Algorithm ◽  
Skid Steering ◽  
And Control ◽  
Jacobian Motion Planning

Abstract This study is devoted to the modeling and control of a 4-wheel, skid-steering mobile platform with coupled side wheels, subject to lateral and longitudinal slips. The dynamics equations of the platform are derived, and 16 variants of motion distinguished. For the variant of motion allowing for all possible slips of the wheels two control problems are addressed: the motion planning problem and the trajectory tracking problem. The former problem is solved by means of a Jacobian motion planning algorithm based on the Endogenous Configuration Space Approach and, complementarily, using the Optimal Control Approach. The Nonlinear Model Predictive Control is applied to the latter problem. Performance of these control algorithms is illustrated by a sort of the parking problem. Significant robustness of the predictive control algorithm against the model uncertainty is revealed.

Frequency-Based Partial and Total Decomposition Approaches for Trajectory Planning of Robotic Systems With Variable Dynamic Responses

2004 ◽  
Author(s):  
Tarun K. Podder ◽  
Nilanjan Sarkar
Keyword(s):  
Motion Planning ◽  
Trajectory Planning ◽  
Autonomous Underwater Vehicle ◽  
Dynamic Responses ◽  
Robotic Systems ◽  
Hydrodynamic Drag ◽  
Underwater Robots ◽  
Planning Algorithm ◽  
Dynamic Bandwidth ◽  
Reference Trajectories

In this paper, we present a frequency-based trajectory planning approach that considers the variable dynamic bandwidth of any multibody system having different dynamic subsystems. This approach provides us with important motion planning methodology for a variety of robotic systems including land-based mobile robots, space robots, and underwater robots, where the vehicles have much slower response as compared to the manipulators. The proposed method has been improvised for an Autonomous Underwater Vehicle-Manipulator System (UVMS) which is a heterogeneous dynamic system having vehicle’s natural frequency much lower than that of the manipulator. This motion-planning algorithm not only considers the variability in dynamic bandwidth of such a complex system but also generates kinematically admissible as well as dynamically feasible reference trajectories. Additionally, the proposed algorithm exploits the inherent kinematic redundancy of the system and provides reference trajectories that accommodate several other important criteria such as thruster/actuator fault and saturation; it also minimizes hydrodynamic drag on the UVMS. Here, we have mainly compared the performance of two frequency-based decomposition approaches, namely: Partial Decomposition and Total Decomposition. The effectiveness of the proposed algorithm is verified with extensive computer simulations and the results are found quite promising.

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