• Title/Summary/Keyword: trajectory planning

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Biomimetic Trajectory Planning Via Redundant Actuation (여유구동을 활용한 생체모방 궤적계획)

  • 이재훈;이병주
    • Journal of Institute of Control, Robotics and Systems
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    • v.9 no.6
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    • pp.456-465
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    • 2003
  • It is well-known that bio-systems does not calculate inverse dynamics for trajectory planning, but they move by proper modulation of system impedances. Inspired by bio-systems, a biomimetic trajectory planning method is proposed in this work. This scheme is based on employment of redundant actuation which prevails in bio-systems. We discuss that for the generation of the biomimetic trajectory, intelligent structure of bio-systems plays an important role. Redundant actuation and kinematic redundancy fall into such a category of intelligent structure. The proposed biomimetic trajectory planning modulates the complete dynamic behavior such as natural frequencies and damping ratios by using the intelligent structure. Experimental work is illustrated to show the effectiveness of the proposed biomimetic trajectory planning for a five-bar mechanism with redundant actuators.

Trajectory Planning for Industrial Robot Manipulators Considering Assigned Velocity and Allowance Under Joint Acceleration Limit

  • Munasinghe, S.Rohan;Nakamura, Masatoshi;Goto, Satoru;Kyura, Nobuhiro
    • International Journal of Control, Automation, and Systems
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    • v.1 no.1
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    • pp.68-75
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    • 2003
  • This paper presents an effective trajectory planning algorithm for industrial robot manipulators. Given the end-effector trajectory in Cartesian space, together with the relevant constraints and task specifications, the proposed method is capable of planning the optimum end-effector trajectory. The proposed trajectory planning algorithm considers the joint acceleration limit, end-effector velocity limits, and trajectory allowance. A feedforward compensator is also incorporated in the proposed algorithm to counteract the delay in joint dynamics. The algorithm is carefully designed so that it can be directly adopted with the existing industrial manipulators. The proposed algorithm can be easily programmed for various tasks given the specifications and constraints. A three-dimensional test trajectory was planned with the proposed algorithm and tested with the Performer MK3s industrial manipulator. The results verified effective manipulator performance within the constraints.

OPTIMAL FORMATION TRAJECTORY-PLANNING USING PARAMETER OPTIMIZATION TECHNIQUE

  • Lim, Hyung-Chul;Bang, Hyo-Choong;Park, Kwan-Dong;Lee, Woo-Kyoung
    • Journal of Astronomy and Space Sciences
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    • v.21 no.3
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    • pp.209-220
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    • 2004
  • Some methods have been presented to get optimal formation trajectories in the step of configuration or reconfiguration, which subject to constraints of collision avoidance and final configuration. In this study, a method for optimal formation trajectory-planning is introduced in view of fuel/time minimization using parameter optimization technique which has not been applied to optimal trajectory-planning for satellite formation flying. New constraints of nonlinear equality are derived for final configuration and constraints of nonlinear inequality are used for collision avoidance. The final configuration constraints are that three or more satellites should be placed in an equilateral polygon of the circular horizontal plane orbit. Several examples are given to get optimal trajectories based on the parameter optimization problem which subjects to constraints of collision avoidance and final configuration. They show that the introduced method for trajectory-planning is well suited to trajectory design problems of formation flying missions.

Online Trajectory Planning for a PUMA Robot

  • Kang, Chul-Goo
    • International Journal of Precision Engineering and Manufacturing
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    • v.8 no.4
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    • pp.16-21
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    • 2007
  • Robotic applications, such as automatic fish cutting, require online trajectory planning because the material properties of the object, such as the bone or flesh conditions, are not known in advance. Different trajectories are required when the material properties vary. An effective online trajectory-planning algorithm is proposed using quaternions to determine the position and orientation of a robot manipulator with a spherical wrist. Quaternions are free of representation singularities and permit computationally efficient orientation interpolations. To prevent singular configurations, the exact locations of the kinematic singularities of the PUMA 560 manipulator are derived and geometrically illustrated when a forearm offset exists and the third link length is not zero.

A Study on the Optimal Trajectory Planning for a Ship Using Genetic algorithm (유전 알고리즘을 이용한 선박의 최적 항로 결정에 관한 연구)

  • 이병결;김종화;김대영;김태훈
    • 제어로봇시스템학회:학술대회논문집
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    • 2000.10a
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    • pp.255-255
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    • 2000
  • Technical advance of electrical chart and cruising equipment make it possible to sail without a man. It is important to decide the cruising route in view of effectiveness and stability of a ship. So we need to study on the optimal trajectory planning. Genetic algorithm is a strong optimization algorithm with adaptational random search. It is a good choice to apply genetic algorithm to the trajectory planning of a ship. We modify a genetic algorithm to solve this problem. The effectiveness of the revised genetic algorithm is assured through computer simulations.

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Development of an Optimal Trajectory Planning Algorithm for an Automated Pavement Crack Sealer

  • Yoo, Hyun-Seok;Kim, Young-Suk
    • Journal of Construction Engineering and Project Management
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    • v.2 no.1
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    • pp.35-44
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    • 2012
  • In the last two decades, several tele-operated and machine-vision-assisted systems have been developed in the construction and maintenance area, such as pavement crack sealing, sewer pipe rehabilitation, and excavation. In developing such tele-operated and machine-vision-assisted systems, trajectory plans are very important tasks for the optimal motions of robots whether their environments are structured or unstructured. This paper presents an optimal trajectory planning algorithm used for a machine-vision-assisted automatic pavement crack sealing system. In this paper, the performance of the proposed optimal trajectory planning algorithm is compared with the greedy trajectory plans, which are used in the previously developed pavement crack sealing systems. The comparison is based on the computational cost vs. the overall gains in crack sealing efficiency. Finally, it is concluded that the proposed algorithm plays an important role in the productivity improvement of the developed automatic pavement crack sealing system.

An Integrated Robot-Trajectory-Planning Scheme for Spray Painting Operations (스프레이 페인팅 작업을 위한 일관화된 로보트 궤적계획법에 관한 연구)

  • Suh, Suk-Hwan;Woo, In-Kee
    • IE interfaces
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    • v.3 no.2
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    • pp.23-38
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    • 1990
  • The use of robots for painting operations is a powerful alternative as a means for automation and quality improvement. A typical method being used for motion planning of the painting robot is to guide the robot along the desired path : the "lead-through" method. Although this method is simple and has been widely used, it has several drawbacks a) The robot cannot be used during the teaching period, b) A human is exposed to a hostile environment, c) The motions taught are, at best, human's skill level. To deal with the above problems, an integrated robot-trajectory planning scheme is presented. The new scheme takes CAD data describing the shape and geometry of the objects, and outputs an optimal trajectory in the sense of coating thickness and painting time. The purpose of this paper is to investigate theoretical backgrounds for such a scheme including geometric modeling, painting mechanics and robot trajectory planning, and develop algorithms for generating spray gun paths and minimum-time robot trajectories. Future study is to implement these algorithms on an workstation to develop an integrated software system ; ATPS(Automatic Trajectory Planning System) for spray painting robots.

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Path Planning for Static Obstacle Avoidance: ADAM III (정적 장애물 회피를 위한 경로 계획: ADAM III)

  • Choi, Heejae;Song, Bongsob
    • Transactions of the Korean Society of Automotive Engineers
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    • v.22 no.3
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    • pp.241-249
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    • 2014
  • This paper presents a path planning algorithm of an autonomous vehicle (ADAM III) for collision avoidance in the presence of multiple obstacles. Under the requirements that a low-cost GPS is used and its computation should be completed with a sampling time of sub-second, heading angle estimation is proposed to improve performance degradation of its measurement and a hierarchical structure for path planning is used. Once it is decided that obstacle avoidance is necessary, the path planning consists in three steps: waypoint generation, trajectory candidate generation, and trajectory selection. While the waypoints and the corresponding trajectory candidates are generated based on position of obstacles, the final desired trajectory is determined with considerations of kinematic constraints as well as an optimal condition in a term of lateral deviation. Finally the proposed algorithm was validated experimentally through field tests and its demonstration was performed in Autonomous Vehicle Competition (AVC) 2013.

Minimum-time trajectory planning of a robot manipulator with an arbitrary path for conveyor tracking (컨베이어 추적을 위한 로봇 매니퓰레이터의 임의의 경로에 대한 최소시간 궤적계획)

  • Yun, Ki-Ho;Chung, Sun-Tae
    • Proceedings of the KIEE Conference
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    • 1995.07b
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    • pp.826-829
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    • 1995
  • In this paper, the problem of minimum-time trajectory planning of a robot manipulator with an arbitrary path is dealt. As for a straight path, the trajectory planning can be done without difficulty since the path is easily parameterized by its length. However, this is not the case for a non-straight path. In this paper, by noting that the others' joint angles and velocities are determined if one joint's angle and velocity are known, we reduce the problem of trajectory planning on a non-straight path to one in the 2-dimensional space of one joint's angle and velocity. Then, by applying the dynamic programming, we achieve the minimum-time trajectory planning. A simulation is done for verifying this.

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Near Minimum-Time Trajectory Planning for Wheeled Mobile Robots with Piecewise Constant Voltages

  • Park, Jong-Suk;Kim, Munsang;Kim, Byung-Kook
    • 제어로봇시스템학회:학술대회논문집
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    • 2001.10a
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    • pp.30.6-30
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    • 2001
  • We build near minimum-time trajectory planning algorithm for Wheeled mobile robots (WMRs) With Piece-Wise Constant control voltages satisfying i) initial and final postures and velocities as well as ii) voltage constraints We consider trajectory planning problem for cornering motion with a path-deviation requirement for obstacle avoidance. We divide our trajectory planning algorithm for cornering motion into five ordered sections: translational, transient, rotational, transient, and translational sections. Transforming dynamics into uncorrelated form with respect to translational and rotational velocities, we can make controls for translation/rotational velocities to be independent. By planning each section with constant voltages, and integrating five sections with adjustment of numbers of steps, the overall trajectory is planned. The performance is very close to the minimum-time solution, which is validated via simulation studies.

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