Study on Mechanical Mechanics with a Method for Minimum-Time Path Planning of Robots in Cartesian Space

2013 ◽  
Vol 703 ◽  
pp. 181-185 ◽  
Author(s):  
Xiang Rong Xu ◽  
Dong Qing Shi ◽  
Man Lu ◽  
Hao Xu ◽  
Tao Zhou
Keyword(s):  
Path Planning ◽  
Minimum Time ◽  
Motion Path ◽  
Robot Motion ◽  
Time Interval ◽  
Cartesian Coordinates ◽  
Motion Trajectories ◽  
Time Path ◽  
Cartesian Space

This paper presents an approach for robot motion path planning in Cartesian space. The motion trajectories are specified by a group of parameter equations in Cartesian coordinates. The time interval [0, is divided into m segments, and the coefficients of polynomial at each segment can be obtained in recursive form. The problem of minimum-time path planning and the determination of m are also studied.

Life Extending Minimum-Time Path Planning for a Hexapod Robot

2010 ◽  
Author(s):  
Xin Wu ◽  
Yaoyu Li ◽  
Thomas R. Consi
Keyword(s):  
Fatigue Life ◽  
Path Planning ◽  
Radial Force ◽  
Minimum Time ◽  
Life Extension ◽  
Euler Formula ◽  
Time Path ◽  
Degradation Rates ◽  
Planning Algorithm ◽  
Path Planning Algorithm

This paper presents a life extending minimum-time path planning algorithm for legged robots, with application for a six-legged walking robot (hexapod). The leg joint fatigue life can be extended by reducing the constraint on the dynamic radial force. The dynamic model of the hexapod is built with the Newton Euler Formula. In the normal condition, the minimum-time path planning algorithm is developed through the bisecting-plane (BP) algorithm with the constraints of maximum joint angular velocity and acceleration. According to the fatigue life model for ball bearing, its fatigue life increases while the dynamic radial force on the bearing decreases. The minimum-time path planning algorithm is thus revised by reinforcing the constraint of maximum radial force based on the expectation of life extension. A symmetric hexapod with 18 degree-of-freedom is used for simulation study. As a simplified treatment, the magnitudes of dynamic radial force on proximal joints at the pair of supporting legs are set identical to achieve similar degradation rates on each joint bearing and obtain the dynamic radial force on each joint. The simulation results validate the effectiveness of the proposed idea. This scheme can extend the operating life of robot (joint bearing fatigue life) by modifying the joint path only without affecting the primary task specifications.

On-line near minimum-time path planning and control of an industrial robot for picking fruits

2004 ◽  
Vol 44 (3) ◽  
pp. 223-237 ◽  
Author(s):  
L.G. Van Willigenburg ◽  
C.W.J. Hol ◽  
E.J. van Henten
Keyword(s):  
Path Planning ◽  
Industrial Robot ◽  
Minimum Time ◽  
Time Path ◽  
Planning And Control ◽  
On Line ◽  
And Control

scholarly journals Lyapunov and Minimum-Time Path Planning for Drones

2014 ◽  
Vol 21 (1) ◽  
pp. 47-80 ◽  
Author(s):  
Thibault Maillot ◽  
Ugo Boscain ◽  
Jean-Paul Gauthier ◽  
Ulysse Serres
Keyword(s):  
Path Planning ◽  
Minimum Time ◽  
Time Path
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