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 Motion Planning and Control of Redundant Manipulators for Dynamical Obstacle Avoidance

2021 ◽  
Author(s):  
Giacomo Palmieri ◽  
Cecilia Scoccia ◽  
Matteo-Claudio Palpacelli ◽  
Massimo Callegari
Keyword(s):  
Path Planning ◽  
Motion Planning ◽  
Motion Control ◽  
Null Space ◽  
Computational Effort ◽  
Control Law ◽  
Redundant Manipulators ◽  
Planning And Control ◽  
On Line ◽  
And Control

This paper presents a framework for the motion planning and control of redundant manipulators with the added task of collision avoidance. The algorithms that were previously studied and tested by the authors for planar cases are here extended to full mobility redundant manipulators operating in a three-dimensional workspace. The control strategy consists of a combination of off-line path planning algorithms with on-line motion control. The path planning algorithm is used to generate trajectories able to avoid fixed obstacles, detected before the robot starts to move; it is based on the potential fields method combined with a smoothing interpolation that exploits Bézier curves. The on-line motion control is designed to compensate for the motion of the obstacles and to avoid collisions along the kinematic chain of the manipulator; it is realized by means of a velocity control law based on the null space method for redundancy control. A term of the control law takes into account the speed of the obstacles as well as their position. In order to test the algorithms, a set of simulations are presented: the robot KUKA LBR iiwa is controlled in different cases, where fixed or dynamic obstacles interfere with its motion. Simulations are also used to estimate the required computational effort in order to verify the transferability to a real system.

scholarly journals Motion Planning and Control of Redundant Manipulators for Dynamical Obstacle Avoidance

Machines ◽  
2021 ◽  
Vol 9 (6) ◽  
pp. 121
Author(s):  
Giacomo Palmieri ◽  
Cecilia Scoccia
Keyword(s):  
Path Planning ◽  
Motion Planning ◽  
Motion Control ◽  
Null Space ◽  
Maximum Speed ◽  
Control Law ◽  
Redundant Manipulators ◽  
Planning And Control ◽  
On Line ◽  
And Control

This paper presents a framework for the motion planning and control of redundant manipulators with the added task of collision avoidance. The algorithms that were previously studied and tested by the authors for planar cases are here extended to full mobility redundant manipulators operating in a three-dimensional workspace. The control strategy consists of a combination of off-line path planning algorithms with on-line motion control. The path planning algorithm is used to generate trajectories able to avoid fixed obstacles detected before the robot starts to move; this is based on the potential fields method combined with a smoothing interpolation that exploits Bézier curves. The on-line motion control is designed to compensate for the motion of the obstacles and to avoid collisions along the kinematic chain of the manipulator; this is realized using a velocity control law based on the null space method for redundancy control. Furthermore, an additional term of the control law is introduced which takes into account the speed of the obstacles, as well as their position. In order to test the algorithms, a set of simulations are presented: the redundant collaborative robot KUKA LBR iiwa is controlled in different cases, where fixed or dynamic obstacles interfere with its motion. The simulated data show that the proposed method for the smoothing of the trajectory can give a reduction of the angular accelerations of the motors of the order of 90%, with an increase of less than 15% of the calculation time. Furthermore, the dependence of the on-line control law on the speed of the obstacle can lead to reductions in the maximum speed and acceleration of the joints of approximately 50% and 80%, respectively, without significantly increasing the computational effort that is compatible for transferability to a real system.

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.

scholarly journals A review on carrier aircraft dispatch path planning and control on deck

2020 ◽  
Author(s):  
Xinwei WANG ◽  
Jie LIU ◽  
Xichao SU ◽  
Haijun PENG ◽  
Xudong ZHAO ◽  
...  
Keyword(s):  
Path Planning ◽  
Planning And Control ◽  
And Control
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