Movement Trajectory Planning Algorithm of Rotating Mobile Piezorobot

2010 ◽  
Vol 164 ◽  
pp. 371-376 ◽  
Author(s):  
Ramutis Bansevičius ◽  
Asta Drukteiniene ◽  
Genadijus Kulvietis
Keyword(s):  
Mathematical Model ◽  
Trajectory Planning ◽  
Experimental Results ◽  
Motion Trajectory ◽  
Movement Trajectory ◽  
Point Motion ◽  
Planning Algorithm ◽  
Point To Point ◽  
The Given

his paper presents method for trajectory planning of mobile piezorobots. An algorithm for evaluation of motion trajectory for this kind of robots, describing point-to-point motion by means of the given function is presented. Preliminary experimental results prove the feasibility of proposed mathematical model.

A Fast Trajectory Planning Algorithm Research for Point-to-Point Motion

2014 ◽  
Vol 940 ◽  
pp. 526-530
Author(s):  
Chun Jun Li ◽  
Chang Liang Liu ◽  
Gu Chang Wang ◽  
Lin Liu ◽  
Ye Sun
Keyword(s):  
Trajectory Planning ◽  
Third Order ◽  
The Third ◽  
Point Motion ◽  
Planning Algorithm ◽  
S Curve ◽  
Point To Point

This paper studied the third-order S-curve trajectory planning for point-to-point motion. By comparing with the pure third-order S speed curve, here further discussed the value of , and , then obtained four types of trajectories of the general third-order S-curve, and put forward the fast third-order S-curve trajectory planning algorithm.

scholarly journals Trajectory planning method of mobile piezorobot

2009 ◽  
Vol 50 ◽  
Author(s):  
Ramutis Bansevičius ◽  
Asta Drukteinienė ◽  
Genadijus Kulvietis
Keyword(s):  
Mathematical Model ◽  
Mobile Robots ◽  
Trajectory Planning ◽  
Simultaneous Equations ◽  
Planning Method ◽  
Experimental Results

This paper presents analysis of trajectory planningmethods for mobile robots and new trajectory planning method research for mobile piezorobots. Here are deduced motional simultaneous equations for this kind of robots that describe point-to-pointmotion by given function. Preliminary experimental results prove the feasibility of proposed mathematical model.

Analytical Trajectory Optimization of Seven Degrees of Freedom Redundant Robots

1987 ◽  
Vol 11 (4) ◽  
pp. 197-200 ◽  
Author(s):  
B. Benhabib ◽  
R.G. Fenton ◽  
A.A. Goldenberg
Keyword(s):  
Trajectory Planning ◽  
Trajectory Optimization ◽  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Optimization Problem ◽  
Optimization Procedure ◽  
Redundant Robots ◽  
Point Motion ◽  
Point To Point ◽  
Lagrange’S Method

The basic characteristic of kinematically redundant robots is that non-unique joint solutions may exist for a specified end effector location. Thus, trajectory planning for a kinematically redundant robot requires an optimization procedure to determine the joint displacements when solving the inverse kinematics relations. In this paper an analytical solution is developed for the trajectory optimization problem of redundant robots based on the classical Lagrange’s method. A detailed formulation is provided for seven degrees of freedom robots, which minimizes the Euclidean norm of joint dislacements for point-to-point motion trajectory planning.

Trajectory planning for flexible Cartesian robot manipulator by using artificial neural network: numerical simulation and experimental verification

Robotica ◽  
2010 ◽  
Vol 29 (5) ◽  
pp. 797-804 ◽  
Author(s):  
Akira Abe
Keyword(s):  
Neural Network ◽  
Artificial Neural Network ◽  
Trajectory Planning ◽  
Learning Algorithm ◽  
Robot Manipulator ◽  
Optimization Technique ◽  
Point Motion ◽  
Particle Swarm Optimization Technique ◽  
Artificial Neural ◽  
Point To Point

SUMMARYThis paper presents a novel trajectory planning method for a flexible Cartesian robot manipulator in a point-to-point motion. In order to obtain an exact mathematical model, the parameters of the equation of motion are determined from an identification experiment. An artificial neural network is employed to generate the desired base position, and then, a particle swarm optimization technique is used as the learning algorithm, in which the sum of the displacements of the manipulator is chosen as the objective function. We show that the residual vibrations of the manipulator can be suppressed by minimizing the displacement of the manipulator. The effectiveness and validity of the proposed method are demonstrated by comparing the simulation and experimental results.

Trajectory Planning for Manufacturing Robots: Algorithm Definition and Experimental Results

2010 ◽  
Author(s):  
Alessandro Gasparetto ◽  
Albano Lanzutti ◽  
Renato Vidoni ◽  
Vanni Zanotto
Keyword(s):  
Trajectory Planning ◽  
Execution Time ◽  
Robot Manipulator ◽  
Experimental Tests ◽  
Minimum Time ◽  
Experimental Results ◽  
Kinematic Constraints ◽  
Planning Algorithm ◽  
Automatic Choice

In this paper an analysis of the experimental results yielded by a minimum time-jerk trajectory planning algorithm is presented. The technique considers both the execution time and the integral of the squared jerk along the trajectory, and the kinematic constraints of the robot manipulator under test. The need for a fast execution and the need for a smooth trajectory are taken into account by adjusting the values of two weights, whose suitable values are set with an “automatic” choice algorithm. The outcomes of the tests are compared with both simulations and experimental results obtained by using a “classic” spline trajectory planning algorithm. The experimental tests are carried out by using an accelerometer mounted on a Cartesian robot.

scholarly journals Flexible Link End-Point Control Based on Exact Dynamic Inversion: Experimental Results

2001 ◽  
Author(s):  
Aurelio Piazzi ◽  
Antonio Visioli
Keyword(s):  
Open Loop ◽  
Experimental Results ◽  
Flexible Link ◽  
End Point ◽  
Point Motion ◽  
Inversion Procedure ◽  
System Inversion ◽  
Point Control ◽  
Tip Position ◽  
Point To Point

Abstract In this paper we present a new method for the point-to-point motion control of the end-point of a single flexible link manipulator. The technique is based on an exact system inversion procedure, that allows to define a suitable motion law for the hub in order to reduce the residual vibration at the end of the tip motion. Thus, the end-point control is actually performed in open-loop, therefore avoiding the use of a sensor to measure the actual tip position. Experimental results demonstrate the effectiveness of the approach and that the overall control system is inherently robust to modelling errors.

scholarly journals Verification of Orthotropic Model of Wood

2018 ◽  
Vol 64 (3) ◽  
pp. 31-44
Author(s):  
P. Obara
Keyword(s):  
Mathematical Model ◽  
Experimental Results ◽  
Published Data ◽  
Elastic Parameters ◽  
Mean Values ◽  
Correct Model ◽  
The Mean ◽  
The Given ◽  
Clear Information ◽  
Elastic Coefficients

AbstractThe paper is dedicated to the discussion of elastic coefficients of wood. Parameters for wood presented in the literature are critically evaluated and discussed. The orthotropic mathematical model, with nine different elastic parameters, is one of the most often used models of wood. However, mathematical limitations on these parameters for the correct model are not well known. Based on these limitations, the verification of orthotropic elastic parameters for different species of wood is presented. The analysis shows that the published data are often unclear and sometimes wrong. The attempt to relate experimental results to the mean values specified in the standards is the second aspect considered in this paper. The designer, a user of these standards, should have clear information that the given parameters are specified for specific mathematical model and species of wood. This paper attempts to propose such a classification.

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