Trajectory Planning for a Rotating Extensible Robotic Manipulator: Design for Collision Avoidance and Accurate Position Placement

2014 ◽  
Author(s):  
M. Dupac
Keyword(s):  
Collision Avoidance ◽  
Trajectory Planning ◽  
Robotic Manipulator ◽  
Accurate Position ◽  
Manipulator Design

Self-collision Avoidance Trajectory Planning and Robust Control of a Dual-arm Space Robot

2018 ◽  
Vol 16 (6) ◽  
pp. 2896-2905 ◽  
Author(s):  
Yicheng Liu ◽  
Chunxiao Yu ◽  
Jingyuan Sheng ◽  
Tao Zhang
Keyword(s):  
Robust Control ◽  
Collision Avoidance ◽  
Trajectory Planning ◽  
Space Robot ◽  
Dual Arm

WSRender: A Workspace Analysis and Visualization Toolbox for Robotic Manipulator Design and Verification

2019 ◽  
Vol 4 (4) ◽  
pp. 3836-3843 ◽  
Author(s):  
Dandan Zhang ◽  
Francesco Cursi ◽  
Guang-Zhong Yang
Keyword(s):  
Robotic Manipulator ◽  
Workspace Analysis ◽  
Manipulator Design

A study about trajectory planning sensitivity in high-speed cooperative collision avoidance

2015 ◽  
Author(s):  
Juan-Bautista Tomas-Gabarron ◽  
Felipe Garcia-Sanchez ◽  
Antonio-Javier Garcia-Sanchez ◽  
Joan Garcia-Haro
Keyword(s):  
Collision Avoidance ◽  
Trajectory Planning ◽  
High Speed

Optimized artificial potential field algorithm to multi-unmanned aerial vehicle coordinated trajectory planning and collision avoidance in three-dimensional environment

2019 ◽  
Vol 233 (16) ◽  
pp. 6032-6043 ◽  
Author(s):  
Jun Tang ◽  
Jiayi Sun ◽  
Cong Lu ◽  
Songyang Lao
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Collision Avoidance ◽  
Unmanned Aerial Vehicle ◽  
Trajectory Planning ◽  
Potential Field ◽  
Three Dimensional ◽  
Artificial Potential Field ◽  
Aerial Vehicles ◽  
Aerial Vehicle ◽  
Vehicle Trajectory

Multi-unmanned aerial vehicle trajectory planning is one of the most complex global optimum problems in multi-unmanned aerial vehicle coordinated control. Results of recent research works on trajectory planning reveal persisting theoretical and practical problems. To mitigate them, this paper proposes a novel optimized artificial potential field algorithm for multi-unmanned aerial vehicle operations in a three-dimensional dynamic space. For all purposes, this study considers the unmanned aerial vehicles and obstacles as spheres and cylinders with negative electricity, respectively, while the targets are considered spheres with positive electricity. However, the conventional artificial potential field algorithm is restricted to a single unmanned aerial vehicle trajectory planning in two-dimensional space and usually fails to ensure collision avoidance. To deal with this challenge, we propose a method with a distance factor and jump strategy to resolve common problems such as unreachable targets and ensure that the unmanned aerial vehicle does not collide into the obstacles. The method takes companion unmanned aerial vehicles as the dynamic obstacles to realize collaborative trajectory planning. Besides, the method solves jitter problems using the dynamic step adjustment method and climb strategy. It is validated in quantitative test simulation models and reasonable results are generated for a three-dimensional simulated urban environment.

Detachment avoidance of joint elements of a robotic manipulator with clearances based on trajectory planning

2010 ◽  
Vol 45 (6) ◽  
pp. 925-940 ◽  
Author(s):  
Wanghui Bu ◽  
Zhenyu Liu ◽  
Jianrong Tan ◽  
Shuming Gao
Keyword(s):  
Trajectory Planning ◽  
Robotic Manipulator
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