scholarly journals Motion Planning of Redundant Manipulators for Painting Uniform Thick Coating in Irregular Duct

2016 ◽  
Vol 2016 ◽  
pp. 1-12 ◽  
Author(s):  
Yan Chen ◽  
Wenzhuo Chen ◽  
Ken Chen ◽  
Bo Li
Keyword(s):  
Motion Planning ◽  
Internal Surface ◽  
Redundant Manipulators ◽  
Redundant Manipulator ◽  
Relative Deviation ◽  
Thick Coating ◽  
Key Points ◽  
Maximum Relative Deviation ◽  
Simulation And Experiment ◽  
Joint Trajectory Planning

The paper presents a motion planning method of redundant manipulator for painting uniform thick coating on the interior of irregular duct of some aircrafts. Discontinuous peripheral painting method is employed by analyzing the restrictions during painting the duct. For improving the longitudinal uniformity of thick coating, the interlacing painting method plans two sets of sweeping paths and an interlacing distance between the starting paths of the two times of painting. The interlacing distance and overlapping distance are optimized by establishing and analyzing the model of longitudinal uniformity. To enhance the transverse uniformity, sweeping speeds for curved surfaces are calculated by the ratio of transfer efficiency after the basic sweeping speed for the plane is determined. The intertwining method, minimizing the sum of the weighed distances between the duct centerline and key points of the manipulator links, is employed for the joint trajectory planning without collision. The simulation and experiment results show that the redundant manipulators can finish painting the internal surface of the irregular S-shaped duct without collision. The maximum relative deviation is 16.3% and the thicknesses of all measurement points satisfy the acceptance criteria of the factory.

A new motion planning method for discretely actuated hyper-redundant manipulators

Robotica ◽  
2015 ◽  
Vol 35 (1) ◽  
pp. 101-118 ◽  
Author(s):  
Alireza Motahari ◽  
Hassan Zohoor ◽  
Moharam Habibnejad Korayem
Keyword(s):  
Genetic Algorithm ◽  
Motion Planning ◽  
Trajectory Tracking ◽  
Inverse Kinematic ◽  
Planning Problem ◽  
Redundant Manipulators ◽  
Tracking Problem ◽  
Parallel Mechanisms ◽  
Redundant Manipulator ◽  
The Common

SUMMARYA hyper-redundant manipulator is made by mounting the serial and/or parallel mechanisms on top of each other as modules. In discrete actuation, the actuation amounts are a limited number of certain values. It is not feasible to solve the kinematic analysis problems of discretely actuated hyper-redundant manipulators (DAHMs) by using the common methods, which are used for continuous actuated manipulators. In this paper, a new method is proposed to solve the trajectory tracking problem in a static prescribed obstacle field. To date, this problem has not been considered in the literature. Theremoving first collision(RFC) method, which is originally proposed for solving the inverse kinematic problems in the obstacle fields was modified and used to solve the motion planning problem. For verification, the numerical results of the proposed method were compared with the results of thegenetic algorithm(GA) method. Furthermore, a novel DAHM designed and implemented by the authors is introduced.

Dual arm-angle parameterisation and its applications for analytical inverse kinematics of redundant manipulators

Robotica ◽  
2015 ◽  
Vol 34 (12) ◽  
pp. 2669-2688 ◽  
Author(s):  
Wenfu Xu ◽  
Lei Yan ◽  
Zonggao Mu ◽  
Zhiying Wang
Keyword(s):  
Inverse Kinematics ◽  
Reference Plane ◽  
Redundant Manipulators ◽  
Redundant Manipulator ◽  
Singularity Problem ◽  
Human Arm ◽  
Angle Method ◽  
Self Motion ◽  
Dual Arm ◽  
Configuration Control

SUMMARYAn S-R-S (Spherical-Revolute-Spherical) redundant manipulator is similar to a human arm and is often used to perform dexterous tasks. To solve the inverse kinematics analytically, the arm-angle was usually used to parameterise the self-motion. However, the previous studies have had shortcomings; some methods cannot avoid algorithm singularity and some are unsuitable for configuration control because they use a temporary reference plane. In this paper, we propose a method of analytical inverse kinematics resolution based on dual arm-angle parameterisation. By making use of two orthogonal vectors to define two absolute reference planes, we obtain two arm angles that satisfy a specific condition. The algorithm singularity problem is avoided because there is always at least one arm angle to represent the redundancy. The dual arm angle method overcomes the shortcomings of traditional methods and retains the advantages of the arm angle. Another contribution of this paper is the derivation of the absolute reference attitude matrix, which is the key to the resolution of analytical inverse kinematics but has not been previously addressed. The simulation results for typical cases that include the algorithm singularity condition verified our method.

Comparison on Simulation and Experiment of Supply Air through Metro Vehicle Air Conditioning Duct

2010 ◽  
Vol 44-47 ◽  
pp. 1724-1728
Author(s):  
Hong Ge Tao ◽  
Huan Xin Chen ◽  
Jun Long Xie ◽  
Jun Zhi Jiang
Keyword(s):  
Air Conditioning ◽  
Optimization Design ◽  
Simulation Method ◽  
Test Results ◽  
Air Velocity ◽  
Relative Deviation ◽  
Air Volume ◽  
Experiment Validation ◽  
Simulation And Experiment ◽  
Actual Test

CFD technique is often employed to simulate and optimize air duct design, but the corresponding experiment validation in metro vehicle is rare. By taking an independent metro vehicle duct as research object in this paper, supply air through air duct is simulated and compared with the actual test results from the angle of supply air velocity at each outlet and supply air volume through several outlets of air duct. The results show that the relative deviation of simulation and test value of air velocity at most of the outlets are within or near ±20%, which is acceptable for the engineering applications. Moreover, the ratio of supply air volume through several outlets to the corresponding total supply air volume through main air duct or flat duct in the case of simulation is consistent with that in the case of experiment. It can be concluded that numerical simulation method is effective and reliable in air duct optimization design of metro vehicle.

OPTIMAL MOTION PLANNING OF A PLANAR PARALLEL MANIPULATOR WITH KINEMATICALLY REDUNDANT DEGREES OF FREEDOM

2016 ◽  
Vol 40 (3) ◽  
pp. 383-397 ◽  
Author(s):  
Bahman Nouri Rahmat Abadi ◽  
Sajjad Taghvaei ◽  
Ramin Vatankhah
Keyword(s):  
Motion Planning ◽  
Feedback Linearization ◽  
Degrees Of Freedom ◽  
Jacobian Matrix ◽  
Redundant Manipulator ◽  
Optimal Motion ◽  
Planar Parallel Manipulator ◽  
Optimal Motion Planning ◽  
Planning Algorithm ◽  
Actuation Method

In this paper, an optimal motion planning algorithm and dynamic modeling of a planar kinematically redundant manipulator are considered. Kinematics of the manipulator is studied, Jacobian matrix is obtained and the dynamic equations are derived using D’Alembert’s principle. Also, a novel actuation method is introduced and applied to the 3-PRPR planar redundant manipulator. In this approach, the velocity of actuators is determined in such a way to minimize the 2-norm of the velocity vector, subjected to the derived kinematic relations as constraints. Having the optimal motion planning, the motion is controlled via a feedback linearization controller. The motion of the manipulator is simulated and the effectiveness of the proposed actuation strategy and the designed controller is investigated.

Gradient Optimization of Inverse Dynamics for Robotic Manipulator Motion Planning Using Combined Optimal Control

2017 ◽  
Author(s):  
Shangdong Gong ◽  
Redwan Alqasemi ◽  
Rajiv Dubey
Keyword(s):  
Optimal Control ◽  
Motion Planning ◽  
Inverse Dynamics ◽  
Null Space ◽  
Optimal Solution ◽  
Human Motion ◽  
Optimization Techniques ◽  
Redundant Manipulators ◽  
Robot Arm ◽  
Gradient Optimization

Motion planning of redundant manipulators is an active and widely studied area of research. The inverse kinematics problem can be solved using various optimization methods within the null space to avoid joint limits, obstacle constraints, as well as minimize the velocity or maximize the manipulability measure. However, the relation between the torques of the joints and their respective positions can complicate inverse dynamics of redundant systems. It also makes it challenging to optimize cost functions, such as total torque or kinematic energy. In addition, the functional gradient optimization techniques do not achieve an optimal solution for the goal configuration. We present a study on motion planning using optimal control as a pre-process to find optimal pose at the goal position based on the external forces and gravity compensation, and generate a trajectory with optimized torques using the gradient information of the torque function. As a result, we reach an optimal trajectory that can minimize the torque and takes dynamics into consideration. We demonstrate the motion planning for a planar 3-DOF redundant robotic arm and show the results of the optimized trajectory motion. In the simulation, the torque generated by an external force on the end-effector as well as by the motion of every link is made into an integral over the squared torque norm. This technique is expected to take the torque of every joint into consideration and generate better motion that maintains the torques or kinematic energy of the arm in the safe zone. In future work, the trajectories of the redundant manipulators will be optimized to generate more natural motion as in humanoid arm motion. Similar to the human motion strategy, the robot arm is expected to be able to lift weights held by hands, the configuration of the arm is changed along from the initial configuration to a goal configuration. Furthermore, along with weighted least norm (WLN) solutions, the optimization framework will be more adaptive to the dynamic environment. In this paper, we present the development of our methodology, a simulated test and discussion of the results.

scholarly journals A sampling-based optimized algorithm for task-constrained motion planning

2019 ◽  
Vol 16 (3) ◽  
pp. 172988141984737 ◽  
Author(s):  
Kai Mi ◽  
Haojian Zhang ◽  
Jun Zheng ◽  
Jianhua Hu ◽  
Dengxiang Zhuang ◽  
...  
Keyword(s):  
Motion Planning ◽  
Sampling Methods ◽  
Tracking Error ◽  
Joint Space ◽  
Planning Problem ◽  
Redundant Manipulators ◽  
Task Space ◽  
Constrained Motion ◽  
Smooth Path ◽  
Planning Algorithm

We consider a motion planning problem with task space constraints in a complex environment for redundant manipulators. For this problem, we propose a motion planning algorithm that combines kinematics control with rapidly exploring random sampling methods. Meanwhile, we introduce an optimization structure similar to dynamic programming into the algorithm. The proposed algorithm can generate an asymptotically optimized smooth path in joint space, which continuously satisfies task space constraints and avoids obstacles. We have confirmed that the proposed algorithm is probabilistically complete and asymptotically optimized. Finally, we conduct multiple experiments with path length and tracking error as optimization targets and the planning results reflect the optimization effect of the algorithm.

scholarly journals A fractional approach for the motion planning of redundant and hyper-redundant manipulators

2011 ◽  
Vol 91 (3) ◽  
pp. 562-570 ◽  
Author(s):  
Maria da Graça Marcos ◽  
J.A. Tenreiro Machado ◽  
T.-P. Azevedo-Perdicoúlis
Keyword(s):  
Motion Planning ◽  
Redundant Manipulators
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