Real time trajectory optimization for nonlinear robotic systems: Relaxation and convexification

2017 ◽  
Vol 108 ◽  
pp. 56-63 ◽  
Author(s):  
Changliu Liu ◽  
Masayoshi Tomizuka
Keyword(s):  
Real Time ◽  
Trajectory Optimization ◽  
Robotic Systems

Real-Time Onboard Trajectory Optimization Using Indirect Methods

2021 ◽  
Author(s):  
Sean M. Nolan ◽  
Clayton A. Smith ◽  
Jacob D. Wood
Keyword(s):  
Real Time ◽  
Trajectory Optimization ◽  
Indirect Methods

Implementing real-time robotic systems using CHIMERA II

2002 ◽  
Author(s):  
D.B. Stewart ◽  
D.E. Schmitz ◽  
P.K. Khosla
Keyword(s):  
Real Time ◽  
Robotic Systems

scholarly journals Dynamic multifoveated structure for real-time vision tasks in robotic systems

2019 ◽  
Vol 17 (5) ◽  
pp. 1403-1419 ◽  
Author(s):  
Petrucio R. T. Medeiros ◽  
Rafael B. Gomes ◽  
Esteban W. G. Clua ◽  
Luiz Gonçalves
Keyword(s):  
Real Time ◽  
Robotic Systems

scholarly journals Motion and Trajectory Constraints Control Modeling for Flexible Surgical Robotic Systems

Micromachines ◽  
2020 ◽  
Vol 11 (4) ◽  
pp. 386
Author(s):  
Olatunji Mumini Omisore ◽  
Shipeng Han ◽  
Yousef Al-Handarish ◽  
Wenjing Du ◽  
Wenke Duan ◽  
...  
Keyword(s):  
Real Time ◽  
A Priori ◽  
Tumor Resection ◽  
Computational Effort ◽  
Robotic Systems ◽  
Kinematics And Dynamics ◽  
Target Point ◽  
Real Time Control ◽  
Control Models ◽  
Constraints Model

Success of the da Vinci surgical robot in the last decade has motivated the development of flexible access robots to assist clinical experts during single-port interventions of core intrabody organs. Prototypes of flexible robots have been proposed to enhance surgical tasks, such as suturing, tumor resection, and radiosurgery in human abdominal areas; nonetheless, precise constraint control models are still needed for flexible pathway navigation. In this paper, the design of a flexible snake-like robot is presented, along with the constraints model that was proposed for kinematics and dynamics control, motion trajectory planning, and obstacle avoidance during motion. Simulation of the robot and implementation of the proposed control models were done in Matlab. Several points on different circular paths were used for evaluation, and the results obtained show the model had a mean kinematic error of 0.37 ± 0.36 mm with very fast kinematics and dynamics resolution times. Furthermore, the robot’s movement was geometrically and parametrically continuous for three different trajectory cases on a circular pathway. In addition, procedures for dynamic constraint and obstacle collision detection were also proposed and validated. In the latter, a collision-avoidance scheme was kept optimal by keeping a safe distance between the robot’s links and obstacles in the workspace. Analyses of the results showed the control system was optimal in determining the necessary joint angles to reach a given target point, and motion profiles with a smooth trajectory was guaranteed, while collision with obstacles were detected a priori and avoided in close to real-time. Furthermore, the complexity and computational effort of the algorithmic models were negligibly small. Thus, the model can be used to enhance the real-time control of flexible robotic systems.

scholarly journals Numerical Simulation of Real-Time Trajectory Optimization for Helicopter Noise Abatement

2010 ◽  
Vol 3 (2) ◽  
pp. 415-430 ◽  
Author(s):  
Hiroshi IKAIDA ◽  
Takeshi TSUCHIYA ◽  
Hirokazu ISHII ◽  
Hiromi GOMI ◽  
Yoshinori OKUNO
Keyword(s):  
Numerical Simulation ◽  
Real Time ◽  
Trajectory Optimization ◽  
Noise Abatement ◽  
Helicopter Noise
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