2P2-F6 On-line path planning method of the manipulator using the tactile sensor

2001 ◽  
Vol 2001 (0) ◽  
pp. 73
Author(s):  
K. Motoyosi ◽  
Zhigi L. ◽  
T. Nakamura
Keyword(s):  
Path Planning ◽  
Tactile Sensor ◽  
Planning Method ◽  
On Line ◽  
Line Path

The Development of an Autonomous Mobile Crane System Considering On-Line Obstacle Recognition and Path Planning

2008 ◽  
Vol 2 (2) ◽  
pp. 131-140 ◽  
Author(s):  
Akihiro Kaneshige ◽  
◽  
Shigeo Hasegawa ◽  
Kazuhiko Terashima ◽  
Keyword(s):  
Control System ◽  
Path Planning ◽  
Visual System ◽  
Potential Field ◽  
Notch Filter ◽  
Planning Method ◽  
Planning System ◽  
On Line ◽  
Mobile Crane ◽  
Line Path

The purpose of this paper is to present a method to establish an autonomous mobile crane system which includes on-line obstacle recognition, path planning by on-line and suppression of sway of the transferred object. The system consists of three different parts: a visual system, a planning system and a control system. In the visual system, ultra sonic sensor is used to renew small part of environmental map during the transferring taking advantage of quick scanning time. In the planning system, proposed on-line path planning method is used in an artificial potential field based on the solution of the Laplacian differential equation. This path planning method can correspond to minor changes in the transportation environment during transportation. The on-line path planning has been accomplished by regenerating the updated potential field. In the control system, feed-forward controller by means of notch filter is used to achieve the suppression of sway of the transferred object. Finally, the usefulness of the proposed method is confirmed by simulations and experiments.

Combined Trajectory Planning and Parameter Identification of a Two-Link Rigid Manipulator

1998 ◽  
Author(s):  
Reza Fotouhi-C. ◽  
Peter N. Nikiforuk ◽  
Walerian Szyszkowski
Keyword(s):  
Path Planning ◽  
Trajectory Planning ◽  
Equations Of Motion ◽  
Adaptive Controller ◽  
Time Variable ◽  
Physical Parameters ◽  
Planning Problem ◽  
Unknown Parameters ◽  
On Line ◽  
Line Path

Abstract A combined trajectory planning problem and adaptive control problem for a two-link rigid manipulator is presented in this paper. The problem is divided into two parts: path planning for off-line processing, followed by on-line path tracking using an adaptive controller. The path planning is done at the joint level. The motion of the robot is specified by a sequence of knots (positions of the robot’s tip) in space Cartesian coordinates. These knots are then transformed into two sets of joint displacements, and piecewise cubic polynomials are used to fit these two sequences of joint displacements. The cubic spline function is used to construct a trajectory with the velocity and the acceleration as constraints. Linear scaling of the time variable is used to accommodate the velocity and acceleration constraints. A nonlinear scaling of the time variable is performed to fit the velocity to a pre-specified velocity profile. The adaptive scheme used takes full advantage of the known parameters of the manipulator while estimating the unknown parameters. In deriving the dynamic equations of motion, all of the physical parameters of the manipulator, including the distributed masses of the links, are taken into account. Some simulation results for the manipulator with unknown payload masses following a planned trajectory are presented.

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