scholarly journals Joint Trajectory Planning of Space Modular Reconfigurable Satellites Based on Kinematic Model

2020 ◽  
Vol 2020 ◽  
pp. 1-17
Author(s):  
Jiping An ◽  
Xinhong Li ◽  
Zhibin Zhang ◽  
Wanxin Man ◽  
Guohui Zhang
Keyword(s):  
Coordinate System ◽  
Trajectory Planning ◽  
Coupling Effect ◽  
Kinematic Model ◽  
Pso Algorithm ◽  
Order Polynomial ◽  
Movement Stability ◽  
Joint Motions ◽  
Joint Trajectory Planning ◽  
Joint Coordinate System

This paper investigates the application of particle swarm optimization (PSO) algorithm to plan joint trajectories of the space modular reconfigurable satellite (SMRS). SMRS changes its configuration by joint motions to complete various space missions; its movement stability is affected by joints motions because of the dynamic coupling effect in space. To improve the movement stability in reconfiguration progress, this paper establishes the optimization object equation to characterize the movement stability of SMRS in its reconfiguration process. The velocity-level and position-level kinematic models based on the proposed virtual joint coordinate system of SMRS are derived. The virtual joint coordinate system solves the problem of asymmetric joint coordinate system resulted by the asymmetric joint arrangement of SMRS. The six-order and seven-order polynomial curves are chosen to parameterize the joint trajectories and ensure the continuous position, velocity, and acceleration of joint motions. Finally, PSO algorithm is used to optimize the trajectory parameters in two cases. Consistent optimization results in terms of the six-order and seven-order polynomial in both cases prove the PSO algorithm can be effectively used for joint trajectory planning of SMRS.

scholarly journals Analysis and Optimization of Interpolation Points for Quadruped Robots Joint Trajectory

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-17
Author(s):  
Mingfang Chen ◽  
Kaixiang Zhang ◽  
Sen Wang ◽  
Fei Liu ◽  
Jinxin Liu ◽  
...  
Keyword(s):  
Trajectory Planning ◽  
Pso Algorithm ◽  
Joint Space ◽  
Quadruped Robots ◽  
Original Curve ◽  
Temporal Domain ◽  
Trajectory Simulation ◽  
Physical Prototype ◽  
Joint Trajectory Planning ◽  
Actual Trajectory

Trajectory planning is the foundation of locomotion control for quadruped robots. This paper proposes a bionic foot-end trajectory which can adapt to many kinds of terrains and gaits based on the idea of trajectory planning combining Cartesian space with joint space. Trajectory points are picked for inverse kinematics solution, and then quintic polynomials are used to plan joint space trajectories. In order to ensure that the foot-end trajectory generated by the joint trajectory planning is closer to the original Cartesian trajectory, the distributions of the interpolation point are analyzed from the spatial domain to temporal domain. An evaluation function was established to assess the closeness degree between the actual trajectory and the original curve. Subsequently, the particle swarm optimization (PSO) algorithm and genetic algorithm (GA) for the points selection are used to obtain a more precise trajectory. Simulation and physical prototype experiments were included to support the correctness and effectiveness of the algorithms and the conclusions.

The Motion Planning for Spherical Robot with Two Motors

2015 ◽  
Vol 789-790 ◽  
pp. 688-692
Author(s):  
Xin Wang
Keyword(s):  
Particle Swarm Optimization ◽  
Angular Velocity ◽  
Motion Planning ◽  
Coordinate System ◽  
Optimization Problem ◽  
Kinematic Model ◽  
Pso Algorithm ◽  
Spherical Robot ◽  
Swarm Optimization ◽  
Moving Coordinate

In this paper, we proposed a spherical robot with two motors in the horizontal and vertical directions which derive the robot to do omni-directionally roll. Based on the structure of the robot, we derived the kinematic model using inertial and moving coordinate system. In order to minimize the energy of the system, an optimization problem with two optimization variables which are the parameters to control the angular velocity of the motors is given. After that, a particle swarm optimization (PSO) algorithm is used to solve the optimization problem. The simulation shows that the motion planning with the algorithm has high precision.

scholarly journals An Estimator for the Kinematic Behaviour of a Mobile Robot Subject to Large Lateral Slip

2021 ◽  
Vol 11 (4) ◽  
pp. 1594 ◽  
Author(s):  
Andrea Botta ◽  
Paride Cavallone ◽  
Luigi Tagliavini ◽  
Luca Carbonari ◽  
Carmen Visconte ◽  
...  
Keyword(s):  
Experimental Data ◽  
Mobile Robot ◽  
Trajectory Planning ◽  
Kinematic Model ◽  
Close Connection ◽  
Wheel Slip ◽  
Robot Architecture ◽  
Experimental Campaign ◽  
Base Concept ◽  
Kinematic Behaviour

In this paper, the effects of wheel slip compensation in trajectory planning for mobile tractor-trailer robot applications are investigated. Firstly, a kinematic model of the proposed robot architecture is marked out, then an experimental campaign is done to identify if it is possible to kinematically compensate trajectories that otherwise would be subject to large lateral slip. Due to the close connection to the experimental data, the results shown are valid only for Epi.q, the prototype that is the main object of this manuscript. Nonetheless, the base concept can be usefully applied to any mobile robot subject to large lateral slip.

scholarly journals Industrial robot trajectory planning based on improved pso algorithm

2021 ◽  
Vol 1820 (1) ◽  
pp. 012185
Author(s):  
Shunjie Han ◽  
Xinchao Shan ◽  
Jinxin Fu ◽  
Weijin Xu ◽  
Hongyan Mi
Keyword(s):  
Trajectory Planning ◽  
Industrial Robot ◽  
Pso Algorithm ◽  
Robot Trajectory ◽  
Improved Pso ◽  
Robot Trajectory Planning

A New Method of 6-DOF Serial Robot’s Trajectory Planning under Multi-Constraints

2014 ◽  
Vol 602-605 ◽  
pp. 1352-1357 ◽  
Author(s):  
Yong Ting Zhao ◽  
Bin Zheng ◽  
Hong Lin Ma
Keyword(s):  
Coordinate System ◽  
Trajectory Planning ◽  
Angular Displacement ◽  
Joint Space ◽  
New Method ◽  
Position Information ◽  
Physical Constraints ◽  
Dynamic Constraints ◽  
Quaternion Interpolation ◽  
And Performance

This paper proposes a new method of 6-DOF serial robot’s trajectory planning. Ensuring to satisfy the physical constraints of space conditions, the robot’s trajectory is interpolated in the Cartesian coordinate system, and using quaternion interpolation to solve the multiple solution problem in RPY interpolation. Meanwhile, the interpolated position information is transformed into the angular displacement information of the joint coordinate system, and the joint space trajectory planning is achieved using the genetic algorithms integrated velocity, acceleration, jerk and torque and other important kinematic and dynamic constraints. In robot safety and stability, the method is better than the general approach, and it has both the ideal trajectory parameters of the global search ability and performance planning.

The Effect of Transverse Shear on the Postbuckling and Growth Characteristics of Delaminations in Composites

1999 ◽  
Vol 121 (4) ◽  
pp. 406-412 ◽  
Author(s):  
Catherine H. Ferrie ◽  
Izhak Sheinman ◽  
George A. Kardomateas
Keyword(s):  
Energy Release Rate ◽  
Energy Release ◽  
Shear Deformation ◽  
Release Rate ◽  
Transverse Shear ◽  
Coupling Effect ◽  
Nonlinear Differential Equations ◽  
Kinematic Model ◽  
Initial Imperfection ◽  
Plate Length

A geometrically nonlinear formulation for the behavior of composite delaminated beams of arbitrary stacking sequence, and with the effects of transverse shear deformation included, is presented. The formulation is based on a first-order shear deformation kinematic model, which incorporates the bending-stretching coupling effect and also assumes an arbitrary initial imperfection. The nonlinear differential equations are solved by Newton’s method using a finite-difference scheme. The growth of the delamination is also studied by applying the J-integral in order to derive a formula for the energy release rate, which includes transverse shear. Results are presented which illustrate the shear effect, especially with respect to the ratio of the in-plane extensional over shear modulus and with respect to the ratio of plate length over thickness. It is seen that transverse shear can affect largely the displacement profiles, rendering the structure more compliant, and can promote growth by increasing the energy release rate, but this latter effect is moderate and mainly noticable only at the later stages in the postbuckling regime.

3D Curve Generation Using Spherical Polar Piecewise Interpolation in CAD and CAM

2020 ◽  
Vol 896 ◽  
pp. 224-228
Author(s):  
Mihai Dupac
Keyword(s):  
Path Planning ◽  
Coordinate System ◽  
Numerical Simulations ◽  
Trajectory Planning ◽  
Robot Arm ◽  
Polar Plane ◽  
Spherical Coordinate ◽  
Manufacturing Efficiency ◽  
Planning Approach ◽  
Design And Manufacturing

In this paper a newly 3D path planning approach and curve generation for design and manufacturing efficiency is considered. The 3D path is generated by a combination of piecewise interpolating curves - along a given number of via-points - created via a spherical coordinate system specified by the polar angles, radial distances and the associated azimuthal angles. Each piecewise interpolating curve is constructed using Hermite polar interpolation in the projective polar plane and the rotating azimuthal plane. To verify the proposed approach, numerical simulations for the generation of a helix design, a 4 and 6 leaf design and a trajectory planning of a picking robot arm are conducted.

scholarly journals Trajectory planning of multiple coordinating robots using genetic algorithms

Robotica ◽  
1996 ◽  
Vol 14 (2) ◽  
pp. 227-234 ◽  
Author(s):  
Shudong Sun ◽  
A.S. Morris ◽  
A.M.S. Zalzala
Keyword(s):  
Genetic Algorithms ◽  
Trajectory Planning ◽  
Degrees Of Freedom ◽  
Coordinate Space ◽  
Object A ◽  
Dynamic Constraints ◽  
Order Polynomial ◽  
Cartesian Coordinate ◽  
Three Degrees Of Freedom

SUMMARYThe paper focuses on the problem of trajectory planning of multiple coordinating robots. When multiple robots collaborate to manipulate one object, a redundant system is formed. There are a number of trajectories that the system can follow. These can be described in Cartesian coordinate space by an nth order polynomial. This paper presents an optimisation method based on the Genetic Algorithms (GAs) which chooses the parameters of the polynomial, such that the execution time and the drive torques for the robot joints are minimized. With the robot's dynamic constraints taken into account, the pitimised trajectories are realisable. A case study with two planar-moving robots, each having three degrees of freedom, shows that the method is effective.

Gait Trajectory Planning Based on Least Squares Fitting - Polynomial for Lower Extremity Rehabilitation

2014 ◽  
Vol 668-669 ◽  
pp. 1569-1572
Author(s):  
Fu Cheng Cao ◽  
Li Min Du
Keyword(s):  
Data Analysis ◽  
Lower Extremity ◽  
Least Squares ◽  
Trajectory Planning ◽  
Curve Fitting ◽  
Polynomial Functions ◽  
Computer Data ◽  
Normal Gait ◽  
Order Polynomial ◽  
Least Squares Curve Fitting

According to the analysis results of normal gait data, a method of gait trajectory planning based least squares curve fitting is proposed. Given the generalized-th order polynomial functions, the coefficients for functions are determined, then, a health hip and knee gait trajectory planning functions were obtained. The computer data analysis results show that the gait trajectory fitted can represent a normal gait accurately.

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