Comparison of motion planning techniques for a multi-rotor UAS equipped with a multi-joint manipulator Arm

2015 ◽  
Author(s):  
Ricardo Ragel ◽  
Ivan Maza ◽  
Fernando Caballero ◽  
Anibal Ollero
Keyword(s):  
Motion Planning ◽  
Planning Techniques ◽  
Manipulator Arm

scholarly journals Motion planner for a Tetris-inspired reconfigurable floor cleaning robot

2020 ◽  
Vol 17 (2) ◽  
pp. 172988142091444 ◽  
Author(s):  
Prabakaran Veerajagadheswar ◽  
Ku Ping-Cheng ◽  
Mohan Rajesh Elara ◽  
Anh Vu Le ◽  
Masami Iwase
Keyword(s):  
Path Planning ◽  
Motion Planning ◽  
Robotic Systems ◽  
Planning Techniques ◽  
Essential Ingredient ◽  
Coverage Path Planning ◽  
Cleaning Robot ◽  
Simulated Environment ◽  
Navigation Path ◽  
Planning Technique

Coverage path planning technique is an essential ingredient in every floor cleaning robotic systems. Even though numerous approaches demonstrate the benefits of conventional coverage motion planning techniques, they are mostly limited to fixed morphological platforms. In this article, we put forward a novel motion planning technique for a Tetris-inspired reconfigurable floor cleaning robot named “hTetro” that can reconfigure its morphology to any of the seven one-sided Tetris pieces. The proposed motion planning technique adapts polyomino tiling theory to tile a defined space, generates reference coordinates, and produces a navigation path to traverse on the generated tile-set with an objective of maximizing the area coverage. We have summarized all these aspects and concluded with experiments in a simulated environment that benchmarks the proposed technique with conventional approaches. The results show that the proposed motion planning technique achieves significantly higher performance in terms of area recovered than the traditional methods.

Mechanization of spatial reasoning for automatic pipe layout design

1991 ◽  
Vol 5 (1) ◽  
pp. 1-20 ◽  
Author(s):  
David Zhu ◽  
Jean-Claude Latombe
Keyword(s):  
Motion Planning ◽  
Spatial Reasoning ◽  
Layout Design ◽  
Planning Techniques ◽  
Design Problems ◽  
New Approach ◽  
Left Behind ◽  
Rigid Objects ◽  
Symbolic Reasoning ◽  
High Level

Artificial Intelligence has been very active in developing high-level symbolic reasoning paradigms that have resulted in practical expert systems. However, with a few exceptions, it has paid little attention to the automation of spatial reasoning. On the other hand, spatial reasoning has attracted the interest of several researchers in Robotics. One of the important problems that have been investigated is motion planning, and very significant results have been obtained. This paper describes an implemented system for designing pipe layouts automatically using motion planning techniques. It introduces a new approach to pipe layout design automation in which pipe routes are treated as trajectories left behind by rigid objects (‘robots’). We have implemented this approach in a basic Pipe Router that is described in detail in this paper. We have extended this router in order to make it capable of treating a variety of other constraints which are typical of practical pipe layout design problems. These constraints relate to the process carried out in the pipes, to the design of their mechanical support, and to the constructability and the ease of operation and maintenance of the designed pipe systems.

scholarly journals Automatic spraying motion planning of a shotcrete manipulator

2021 ◽  
Author(s):  
Gangfeng Liu ◽  
Xianchao Sun ◽  
Yubin Liu ◽  
Tao Liu ◽  
Changle Li ◽  
...  
Keyword(s):  
Motion Planning ◽  
High Speed ◽  
Experimental Results ◽  
Tunnel Construction ◽  
Modeling And Analysis ◽  
Kinematics Modeling ◽  
Manipulator Arm ◽  
Remote Controller ◽  
Operation Risk ◽  
Spraying Method

AbstractShotcrete manipulator has been widely used in the construction of high-speed railways, coal mines and other tunnels. At present, workers are still using the remote controller to control the manipulator for spraying operations. There are problems such as high operation risk, large personal injuries, and low construction quality. In order to improve the automation of tunnel construction, this paper proposes a spraying motion planning method based on an 8R manipulator arm. On the basis of kinematics modeling and analysis of the shotcrete manipulator, method design and motion planning of shotcrete are carried out according to tunnel conditions, and verification experiments are carried out in actual tunnel. The experimental results show that the precision of the automatic spraying method is less than 45 m, which can meet the requirements of actual construction.

Path Generation Algorithm Verification of Five DOF Robotic Arm With Linear Actuator Using MATLAB Sim-Mechanics

2018 ◽  
Author(s):  
Maged M. Abou Elyazed ◽  
A. S. Zaghloul ◽  
Ahmed Y. AbdelHamid
Keyword(s):  
Motion Planning ◽  
Degrees Of Freedom ◽  
Load Capacity ◽  
Inverse Kinematic ◽  
Robotic Arm ◽  
Path Generation ◽  
Planning Techniques ◽  
Generation Algorithm ◽  
3D Space ◽  
High Load Capacity

Manipulators have been considered the backbone of industrial world for decades. The main aspect of industrial robotic arm is its ability to track a certain path in the 3D space. Using liner actuators to drive multi degrees of freedom robot offers high load capacity, but path generation algorithm of such robot is relatively complicated and computationally expensive. Furthermore, limitations in the joints workspace are existed. In this work, five degrees of freedom robotic arm is constructed to guaranty suitable workspace. Forward and inverse kinematic algorithms are evaluated. Moreover, path generation algorithm in Cartesian space is held using three different motion planning techniques. Sim-Mechanics toolbox under MATLAB is used to verify the introduced forward kinematics, inverse kinematics, and path generation algorithms. Thus, a comparison between the three introduced motion planning techniques is illustrated. Finally, the generated paths are experimentally applied on the case study. The work aims to illustrate the importance of simulation in the field of robotic arm algorithms verification.

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