scholarly journals Optimal trajectory planning for a space robot docking with a moving target via homotopy algorithms

1995 ◽  
Vol 12 (8) ◽  
pp. 531-540 ◽  
Author(s):  
Y. Chen ◽  
L. T. Watson
Keyword(s):  
Trajectory Planning ◽  
Optimal Trajectory ◽  
Space Robot ◽  
Moving Target ◽  
Homotopy Algorithms ◽  
Optimal Trajectory Planning

Compensation of base disturbance using optimal trajectory planning of dual-manipulators in a space robot

2019 ◽  
Vol 63 (3) ◽  
pp. 1147-1160 ◽  
Author(s):  
Yaen Xie ◽  
Xiande Wu ◽  
Takaya Inamori ◽  
Zhen Shi ◽  
Xinzhu Sun ◽  
...  
Keyword(s):  
Trajectory Planning ◽  
Optimal Trajectory ◽  
Space Robot ◽  
Optimal Trajectory Planning ◽  
Base Disturbance

scholarly journals Time-jerk optimal trajectory planning of hydraulic robotic excavator

2021 ◽  
Vol 13 (7) ◽  
pp. 168781402110346
Author(s):  
Yunyue Zhang ◽  
Zhiyi Sun ◽  
Qianlai Sun ◽  
Yin Wang ◽  
Xiaosong Li ◽  
...  
Keyword(s):  
Angular Velocity ◽  
Trajectory Planning ◽  
Optimal Trajectory ◽  
High Efficiency ◽  
Optimal Solution ◽  
Optimal Time ◽  
Target Point ◽  
Robotic Excavator ◽  
The Impact ◽  
Optimal Trajectory Planning

Due to the fact that intelligent algorithms such as Particle Swarm Optimization (PSO) and Differential Evolution (DE) are susceptible to local optima and the efficiency of solving an optimal solution is low when solving the optimal trajectory, this paper uses the Sequential Quadratic Programming (SQP) algorithm for the optimal trajectory planning of a hydraulic robotic excavator. To achieve high efficiency and stationarity during the operation of the hydraulic robotic excavator, the trade-off between the time and jerk is considered. Cubic splines were used to interpolate in joint space, and the optimal time-jerk trajectory was obtained using the SQP with joint angular velocity, angular acceleration, and jerk as constraints. The optimal angle curves of each joint were obtained, and the optimal time-jerk trajectory planning of the excavator was realized. Experimental results show that the SQP method under the same weight is more efficient in solving the optimal solution and the optimal excavating trajectory is smoother, and each joint can reach the target point with smaller angular velocity, and acceleration change, which avoids the impact of each joint during operation and conserves working time. Finally, the excavator autonomous operation becomes more stable and efficient.

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