Automatic Planning of Smooth Trajectories for Pick-and-Place Operations

1991 ◽  
Author(s):  
Clément M. Gosselin ◽  
Ammar Hadj-Messaoud
Keyword(s):  
Joint Space ◽  
Inverse Kinematic ◽  
Planning Problem ◽  
Inverse Kinematic Problem ◽  
Polynomial Solutions ◽  
Joint Coordinates ◽  
Pick And Place ◽  
Lift Off ◽  
The Relationship ◽  
Third Derivative

Abstract This paper proposes some new polynomial solutions to the trajectory planning problem encountered in pick-and-place operations. When a robotic manipulator is used for such operations, it is possible to plan the required trajectory in joint space, provided that the inverse kinematic problem has been solved for the initial and final configurations — and possibly for a lift-off and a set-down configuration — and that the workspace is free of obstacles. Polynomial solutions to this problem can be found in the literature. However, they usually provide continuity up to the second derivative only, leading to a discontinuous jerk. The solutions derived in this paper preserve the continuity of the third derivative of the joint coordinates, thereby ensuring smooth trajectories with smooth variations of the actuator currents. Moreover, whenever possible, unique polynomial expressions valid between the initial and final configurations are used in order to simplify the logic. Polynomial formulations without lift-off and set-down configurations are first presented. Then, these intermediate configurations are introduced, leading to a new set of solutions. A global algorithm is then discussed in order to clearly indicate the relationship between the different solutions. Finally, an example illustrating the application to a pick-and-place operation is solved.

Automatic Planning of Smooth Trajectories for Pick-and-Place Operations

1993 ◽  
Vol 115 (3) ◽  
pp. 450-456 ◽  
Author(s):  
C. M. Gosselin ◽  
A. Hadj-Messaoud
Keyword(s):  
Joint Space ◽  
Inverse Kinematic ◽  
Planning Problem ◽  
Inverse Kinematic Problem ◽  
Polynomial Solutions ◽  
Joint Coordinates ◽  
Pick And Place ◽  
Lift Off ◽  
The Relationship ◽  
Third Derivative

This paper proposes some new polynomial solutions to the trajectory planning problem encountered in pick-and-place operations. When a robotic manipulator is used for such operations, it is possible to plan the required trajectory in joint space, provided that the inverse kinematic problem has been solved for the initial and final configurations—and possibly for a lift-off and a set-down configuration—and that the workspace is free of obstacles. Polynomial solutions to this problem can be found in the literature. However, they usually provide continuity up to the second derivative only, leading to a discontinuous jerk. The solutions derived in this paper preserve the continuity of the third derivative of the joint coordinates, thereby ensuring smooth trajectories with smooth variations of the actuator currents. Moreover, whenever possible, unique polynomial expressions valid between the initial and final configurations are used in order to simplify the logic. Polynomial formulations without lift-off and set-down configurations are first presented. Then, these intermediate configurations are introduced, leading to a new set of solutions. A global algorithm is then discussed in order to clearly indicate the relationship between the different solutions. Finally, an example illustrating the application to a pick-and-place operation is solved.

scholarly journals Inverse kinematics-based motion planning for dual-arm robot with orientation constraints

2019 ◽  
Vol 16 (2) ◽  
pp. 172988141983685 ◽  
Author(s):  
Jiangping Wang ◽  
Shirong Liu ◽  
Botao Zhang ◽  
Changbin Yu
Keyword(s):  
Motion Planning ◽  
Joint Space ◽  
Inverse Kinematic ◽  
Planning Problem ◽  
Constraint Manifold ◽  
Wide Range ◽  
Planning Algorithm ◽  
Motion Paths ◽  
Dual Arm Robot ◽  
Dual Arm

This article proposes an efficient and probabilistic complete planning algorithm to address motion planning problem involving orientation constraints for decoupled dual-arm robots. The algorithm is to combine sampling-based planning method with analytical inverse kinematic calculation, which randomly samples constraint-satisfying configurations on the constraint manifold using the analytical inverse kinematic solver and incrementally connects them to the motion paths in joint space. As the analytical inverse kinematic solver is applied to calculate constraint-satisfying joint configurations, the proposed algorithm is characterized by its efficiency and accuracy. We have demonstrated the effectiveness of our approach on the Willow Garage’s PR2 simulation platform by generating trajectory across a wide range of orientation-constrained scenarios for dual-arm manipulation.

Trajectory Planning of Delta Robot for Dynamic Tracking, Pick and Placement

2013 ◽  
Vol 680 ◽  
pp. 473-478 ◽  
Author(s):  
Guang Feng Chen ◽  
Lin Lin Zhai ◽  
Lei Li ◽  
Jia Wen Shi
Keyword(s):  
Target Position ◽  
Joint Space ◽  
Inverse Kinematic ◽  
Control Points ◽  
Practical Action ◽  
Dynamic Tracking ◽  
Key Points ◽  
Pick And Place ◽  
Delta Robot ◽  
The Right

This paper focus on the trajectories planning for Delta robot, which is used to dynamic tracking, pick and place workpiece on packing line. According to the practical action requirements, defined the desired path for end actuator in Cartesian space. The control trajectories are divided into several line segments. For each section, the control points are calculated with the modified sine computing terminal trajectory. To tracking the workpiece on conveyor, a mathematical models is developed to describe the target position and limitation of robot hardware. Newton's method is adopt to solve the model. Through calculating the right angle coordinate system of key points with inverse kinematic in joint space, generating a feasible motion control track. A demo trajectory is generated to verify the feasibility of the scheme.

On-line robot trajectory control in joint coordinates by means of imposed acceleration profiles

Robotica ◽  
1988 ◽  
Vol 6 (3) ◽  
pp. 185-195 ◽  
Author(s):  
Ir. L. Van Aken ◽  
H. Van Brussel
Keyword(s):  
Joint Space ◽  
Computational Effort ◽  
Trajectory Control ◽  
The Third ◽  
Robot Trajectory ◽  
Straight Line ◽  
Joint Coordinates ◽  
Minimum Requirements ◽  
On Line ◽  
Third Derivative

SUMMARYA method for trajectory control in the joint space is presented. An acceleration profile is proposed for each segment of the trajectory. After a twofold integration a position trajectory is obtained with advantageous characteristics. The position trajectory is completely dynamically balanced; it exhibits continuity up to the third derivative of the position. This way, minimum requirements are imposed on the actuators. The technique delivers predictable results since the trajectory deviates only slightly from a straight line connection between successive joint coordinates. Very limited computational effort is required.

Exploiting Redundancies for Workspace Enlargement and Joint Trajectory Optimisation of a Kinematically Redundant Hybrid Parallel Robot

2021 ◽  
pp. 1-12
Author(s):  
Kefei Wen ◽  
Clement Gosselin
Keyword(s):  
Performance Index ◽  
Degrees Of Freedom ◽  
Parallel Robot ◽  
Inverse Kinematic ◽  
Parallel Robots ◽  
New Method ◽  
Inverse Kinematic Problem ◽  
Redundant Robots ◽  
Joint Coordinates ◽  
Trajectory Optimisation

Abstract In this paper, possibilities for workspace enlargement and joint trajectory optimisation of a (6+3)-degree-of-freedom kinematically redundant hybrid parallel robot are investigated. The inverse kinematic problem of the robot can be solved analytically, which is a desirable property of redundant robots, and is implemented in the investigations. A new method for detecting mechanical interferences between two links which are not directly connected is proposed for evaluating the workspace. Redundant degrees of freedom are optimised in order to further expand the workspace. An approach for determining the desired redundant joint coordinates is developed so that a performance index can be minimised approximately when the robot is following a prescribed Cartesian trajectory. The presented approaches are readily applicable to other kinematically redundant hybrid parallel robots proposed by the authors.

scholarly journals AB0867 INCREASED ADIPONECTIN LEVELS ARE ASSOCIATED WITH HIGHER RADIOGRAPHIC SCORES IN THE KNEE JOINT, BUT NOT IN THE HAND JOINT: THE DONG-GU STUDY

2020 ◽  
Vol 79 (Suppl 1) ◽  
pp. 1740.1-1740
Author(s):  
J. H. Kang ◽  
S. E. Choi ◽  
H. Xu ◽  
D. J. Park ◽  
S. S. Lee
Keyword(s):  
Body Mass Index ◽  
Knee Joint ◽  
Body Mass ◽  
Linear Regression Analysis ◽  
Joint Space ◽  
Serum Adiponectin ◽  
Hand Osteoarthritis ◽  
X Rays ◽  
Subchondral Cyst ◽  
The Relationship

Background:Several studies have evaluated the association between serum adiponectin levels and knee and hand osteoarthritis (OA), with mixed results.Objectives:The aim of this study was to investigate the relationship between OA and serum adiponectin levels according to the radiographic features of knee and hand OA.Methods:A total of 2,402 subjects were recruited from the Dong-gu Study. Baseline characteristics were collected via a questionnaire, and X-rays of knee and hand joints were scored by a semi-quantitative grading system. The relationship between serum adiponectin levels and radiographic severity was evaluated by linear regression analysis.Results:Subjects with higher tertiles of serum adiponectin were older and had a lower body mass index than those with lower tertiles. In the knee joint scores, serum adiponectin levels were positively associated with the total score (P<0.001), osteophyte score (P=0.003), and joint space narrowing (JSN) score (P<0.001) among the three tertiles after adjustment for age, sex, body mass index, smoking, alcohol consumption, education, and physical activity. In the hand joint scores, no association was found between serum adiponectin levels and the total score, osteophyte score, JSN score, subchondral cyst score, sclerosis score, erosion score, and malalignment score among the three tertiles after adjustment.Conclusion:In this study, we found that increased adiponectin levels were associated with higher radiographic scores in the knee joint, but not in the hand joint, suggesting different pathophysiologic mechanisms in the development of OA.Disclosure of Interests:None declared

scholarly journals Using a Cable-Driven Parallel Robot with Applications in 3D Concrete Printing

2021 ◽  
Vol 11 (2) ◽  
pp. 563
Author(s):  
Tuong Phuoc Tho ◽  
Nguyen Truong Thinh
Keyword(s):  
3D Printing ◽  
Large Scale ◽  
Trust Region ◽  
Parallel Robot ◽  
Inverse Kinematic ◽  
Programming Algorithm ◽  
Construction Time ◽  
Inverse Kinematic Problem ◽  
Robot Configuration ◽  
Printing Method

In construction, a large-scale 3D printing method for construction is used to build houses quickly, based on Computerized Aid Design. Currently, the construction industry is beginning to apply quite a lot of 3D printing technologies to create buildings that require a quick construction time and complex structures that classical methods cannot implement. In this paper, a Cable-Driven Parallel Robot (CDPR) is described for the 3D printing of concrete for building a house. The CDPR structures are designed to be suitable for 3D printing in a large workspace. A linear programming algorithm was used to quickly calculate the inverse kinematic problem with the force equilibrium condition for the moving platform; this method is suitable for the flexible configuration of a CDPR corresponding to the various spaces. Cable sagging was also analyzed by the Trust-Region-Dogleg algorithm to increase the accuracy of the inverse kinematic problem for controlling the robot to perform basic trajectory interpolation movements. The paper also covers the design and analysis of a concrete extruder for the 3D printing method. The analytical results are experimented with based on a prototype of the CDPR to evaluate the work ability and suitability of this design. The results show that this design is suitable for 3D printing in construction, with high precision and a stable trajectory printing. The robot configuration can be easily adjusted and calculated to suit the construction space, while maintaining rigidity as well as an adequate operating space. The actuators are compact, easy to disassemble and move, and capable of accommodating a wide variety of dimensions.

DEVELOPMENT OF INTELLECTUAL CONTROL ALGORITHMS FOR PLASTER MECHATRON COMPLEXES FOR AGRICULTURAL ENTERPRISES

2020 ◽  
Author(s):  
O.L. Cvetkova ◽  
◽  
A.R. Ajdinyan
Keyword(s):  
Low Cost ◽  
Inverse Kinematic ◽  
Control Algorithms ◽  
High Quality ◽  
Inverse Kinematic Problem ◽  
Intelligent Algorithms ◽  
Agricultural Enterprises ◽  
Computational Costs ◽  
Control Actions ◽  
Intellectual Control

Agricultural enterprises are interested in high-quality and low-cost plastering of technological and warehouse premises. It is proposed to solve the problem using mechatronic complexes intended for plastering surfaces characterized by different features of irregularities. The work considers intelligent algorithms for controlling the actions of a stucco robot based on the use of an artificial neural network. Intelligent algorithms will provide the formation of control actions for the robot when applying the mortar to the surface, with a rough leveling of the mortar layer, will allow solving the inverse kinematic problem of position for the plastering robot with less computational costs.

Kinematic and Workspace Modelling of a 6-PUS Parallel Mechanism

2018 ◽  
Author(s):  
Jérôme Landuré ◽  
Clément Gosselin
Keyword(s):  
Kinematic Analysis ◽  
Parallel Mechanism ◽  
Inverse Kinematic ◽  
Degree Of Freedom ◽  
Accurate Description ◽  
Transmission Ratio ◽  
Inverse Kinematic Problem ◽  
Jacobian Matrices ◽  
Six Degree Of Freedom

This article presents the kinematic analysis of a six-degree-of-freedom six-legged parallel mechanism of the 6-PUS architecture. The inverse kinematic problem is recalled and the Jacobian matrices are derived. Then, an algorithm for the geometric determination of the workspace is presented, which yields a very fast and accurate description of the workspace of the mechanism. Singular boundaries and a transmission ratio index are then introduced and studied for a set of architectural parameters. The proposed analysis yields conceptual architectures whose properties can be adjusted to fit given applications.

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