scholarly journals Multi-Objective Trajectory Planning Method for a Redundantly Actuated Parallel Manipulator under Hybrid Force and Position Control

IEEE Access ◽  
2020 ◽  
pp. 1-1
Author(s):  
Jianbin Feng ◽  
Tiejun Li ◽  
Ming Han ◽  
Kaiwen Zheng ◽  
Dong Yang
Keyword(s):  
Trajectory Planning ◽  
Parallel Manipulator ◽  
Position Control ◽  
Planning Method ◽  
Multi Objective ◽  
Redundantly Actuated

Trajectory Planning of Knife Position of Slitter Robot Based on Identification of Friction and Viscous Damping, and Position Control Experiments

2008 ◽  
Vol 2 (5) ◽  
pp. 354-359
Author(s):  
Hiroyuki Kojima ◽  
◽  
Daiki Orihara ◽  
Yamato Matsuda ◽  
Yusuke Inoue ◽  
...  
Keyword(s):  
Trajectory Planning ◽  
Position Control ◽  
Planning Method ◽  
Ball Screw ◽  
Driving Mechanism ◽  
Identification Algorithm ◽  
Viscous Damping ◽  
Driving Mechanisms ◽  
Ac Motor ◽  
Planning Algorithm

In this study, the trajectory planning method of the knife position of a slitter robot is proposed, and the experimental and numerical simulation results are demonstrated. The slitter robot consists of upper and lower knife driving mechanisms, and a knife driving mechanism was constructed with a worm gear, a ball screw and an alternating current (AC) motor. In the trajectory planning, first, the identification algorithm of the friction and the viscous damping is derived by using the equation of motion of the knife drive mechanism and the experimental results of the dynamic response with constant AC motor torque. Then, the trajectory planning algorithm of the knife position is presented, and a knife position control system is constructed. Furthermore, the experiments and numerical calculations have been carried out, and the usefulness of the present trajectory planning method is confirmed.

Trajectory Planning Research of Spherical 2-DOF Parallel Manipulator with Actuation Redundancy

2011 ◽  
Vol 308-310 ◽  
pp. 2068-2073
Author(s):  
Yong Quan Li ◽  
Li Jie Zhang ◽  
Ying Liu
Keyword(s):  
Trajectory Planning ◽  
Parallel Manipulator ◽  
Angular Displacement ◽  
Angular Acceleration ◽  
Optimization Method ◽  
Planning Method ◽  
Actuation Redundancy ◽  
Adams Software ◽  
Torque Curve ◽  
Driving Torque

This paper present formation principle of any spherical trajectory curve, and kinematic track of spherical 2-DOF parallel manipulator with actuation redundancy was planned by trajectory planning method that acceleration is continuous segmental function in Cartesian space, in order to guarantee that angular displacement, angular velocity and angular acceleration curve is smooth and continuous, and forward kinematics was simulated by virtue of ADAMS software. At the same time, based on dynamic analysis, smooth and continuous driving torque curve of three actuated joints were obtained by force optimization method. This kind of trajectory planning method laid the foundation for redundant actuation control of the manipulator.

Performance Mapping and Motion Simulation of a 4UPS+PU Redundantly Actuated Parallel Manipulator

2010 ◽  
Author(s):  
Zhen Gao ◽  
Dan Zhang
Keyword(s):  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Position Control ◽  
Parallel Manipulators ◽  
Inverse Kinematic ◽  
Reachable Workspace ◽  
Redundantly Actuated ◽  
Inverse Kinematic Analysis ◽  
Motion Characteristics ◽  
Operational Capacity

In this paper, a new 4UPS+PU redundantly actuated parallel manipulator is proposed. This mechanism possesses three degrees of freedom (DOF), one translation and two rotations. Different from general parallel manipulators, a passive leg is connected to both centers of the base and the moving platform to constrain the unwanted motion. The mobility study and inverse kinematic analysis are conducted. The reachable workspace is generated with boundary-searching based discretization method. The local and global performance indices including stiffness and dexterity and their atlas are investigated in details. Comprehensive simulation of kinematics, dynamics and proportional-integral-derivative (PID) position control are implemented based on Adams to evaluate and testify the high operational capacity and well motion characteristics.

scholarly journals A Multi-Objective Trajectory Planning Method for Collaborative Robot

Electronics ◽  
2020 ◽  
Vol 9 (5) ◽  
pp. 859 ◽  
Author(s):  
Jiangyu Lan ◽  
Yinggang Xie ◽  
Guangjun Liu ◽  
Manxin Cao
Keyword(s):  
Trajectory Planning ◽  
Optimal Trajectory ◽  
Control Experiment ◽  
High Efficiency ◽  
Simulation Experiment ◽  
Joint Space ◽  
Planning Method ◽  
Robot Operating System ◽  
Multi Objective ◽  
Collaborative Robot

Aiming at the characteristics of high efficiency and smoothness in the motion process of collaborative robot, a multi-objective trajectory planning method is proposed. Firstly, the kinematics model of the collaborative robot is established, and the trajectory in the workspace is converted into joint space trajectory using inverse kinematics method. Secondly, seven-order B-spline functions are used to construct joint trajectory sequences to ensure the continuous position, velocity, acceleration and jerk of each joint. Then, the trajectory competitive multi-objective particle swarm optimization (TCMOPSO) algorithm is proposed to search the Pareto optimal solutions set of the robot’s time-energy-jerk optimal trajectory. Further, the normalized weight function is proposed to select the appropriate solution. Finally, the algorithm simulation experiment is completed in MATLAB, and the robot control experiment is completed using the Robot Operating System (ROS). The experimental results show that the method can achieve effective multi-objective optimization, the appropriate optimal trajectory can be obtained according to the actual requirements, and the collaborative robot is actually operating well.

scholarly journals Control system of 4-DOF palletizing robot based on improved R control multi-objective trajectory planning

2021 ◽  
Vol 13 (4) ◽  
pp. 168781402110027
Author(s):  
Jianqiang Wang ◽  
Yanmin Zhang ◽  
Xintong Liu
Keyword(s):  
Control System ◽  
Trajectory Planning ◽  
Robot Control ◽  
Machining Process ◽  
Planning System ◽  
Positioning Accuracy ◽  
Multi Objective ◽  
Planning Algorithm ◽  
Function Testing ◽  
Robot Control System

To realize efficient palletizing robot trajectory planning and ensure ultimate robot control system universality and extensibility, the B-spline trajectory planning algorithm is used to establish a palletizing robot control system and the system is tested and analyzed. Simultaneously, to improve trajectory planning speeds, R control trajectory planning is used. Through improved algorithm design, a trajectory interpolation algorithm is established. The robot control system is based on R-dominated multi-objective trajectory planning. System stack function testing and system accuracy testing are conducted in a production environment. During palletizing function testing, the system’s single-step code packet time is stable at approximately 5.8 s and the average evolutionary algebra for each layer ranges between 32.49 and 45.66, which can save trajectory planning time. During system accuracy testing, the palletizing robot system’s repeated positioning accuracy is tested. The repeated positioning accuracy error is currently 10−1 mm and is mainly caused by friction and the machining process. By studying the control system of a four-degrees-of-freedom (4-DOF) palletizing robot based on the trajectory planning algorithm, the design predictions and effects are realized, thus providing a reference for more efficient future palletizing robot design. Although the working process still has some shortcomings, the research has major practical significance.

Integrated Kinematic Calibration for All the Parameters of a Planar 2DOF Redundantly Actuated Parallel Manipulator

2009 ◽  
Vol 1 (3) ◽  
Author(s):  
Chunshi Feng ◽  
Shuang Cong ◽  
Weiwei Shang
Keyword(s):  
Parallel Manipulator ◽  
Closed Loop ◽  
Open Loop ◽  
Kinematic Calibration ◽  
Constraint Equations ◽  
Integrated Method ◽  
Uniqueness Of The Solution ◽  
Redundantly Actuated ◽  
Loop Constraint ◽  
Two Degree Of Freedom

In this paper, the kinematic calibration of a planar two-degree-of-freedom redundantly actuated parallel manipulator is studied without any assumption on parameters. A cost function based on closed-loop constraint equations is first formulated. Using plane geometry theory, we analyze the pose transformations that bring infinite solutions and present a kinematic calibration integrated of closed-loop and open-loop methods. In the integrated method, the closed-loop calibration solves all the solutions that fit the constraint equations, and the open-loop calibration guarantees the uniqueness of the solution. In the experiments, differential evolution is applied to compute the solution set, for its advantages in computing multi-optima. Experimental results show that all the parameters involved are calibrated with high accuracy.

scholarly journals Trajectory Planning Method for Mixed Vehicles Considering Traffic Stability and Fuel Consumption at the Signalized Intersection

2020 ◽  
Vol 2020 ◽  
pp. 1-10
Author(s):  
Shan Fang ◽  
Lan Yang ◽  
Tianqi Wang ◽  
Shoucai Jing
Keyword(s):  
Fuel Consumption ◽  
Trajectory Planning ◽  
Signalized Intersections ◽  
Planning Method ◽  
Signalized Intersection ◽  
Driver Model ◽  
Connected Vehicles ◽  
Connected Vehicle ◽  
Traffic Lights ◽  
Trigonometric Model

Traffic lights force vehicles to stop frequently at signalized intersections, which leads to excessive fuel consumption, higher emissions, and travel delays. To address these issues, this study develops a trajectory planning method for mixed vehicles at signalized intersections. First, we use the intelligent driver car-following model to analyze the string stability of traffic flow upstream of the intersection. Second, we propose a mixed-vehicle trajectory planning method based on a trigonometric model that considers prefixed traffic signals. The proposed method employs the proportional-integral-derivative (PID) model controller to simulate the trajectory when connected vehicles (equipped with internet access) follow the optimal advisory speed. Essentially, only connected vehicle trajectories need to be controlled because normal vehicles simply follow the connected vehicles according to the Intelligent Driver Model (IDM). The IDM model aims to minimize traffic oscillation and ensure that all vehicles pass the signalized intersection without stopping. The results of a MATLAB simulation indicate that the proposed method can reduce fuel consumption and NOx, HC, CO2, and CO concentrations by 17%, 22.8%, 17.8%, 17%, and 16.9% respectively when the connected vehicle market penetration is 50 percent.

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