scholarly journals Recent progress on sampling based dynamic motion planning algorithms

2016 ◽  
Author(s):  
Andrew Short ◽  
Zengxi Pan ◽  
Nathan Larkin ◽  
Stephen van Duin
Keyword(s):  
Motion Planning ◽  
Recent Progress ◽  
Dynamic Motion ◽  
Planning Algorithms ◽  
Dynamic Motion Planning

scholarly journals Dynamic Motion Planning for Autonomous Assistive Surgical Robots

Electronics ◽  
2019 ◽  
Vol 8 (9) ◽  
pp. 957 ◽  
Author(s):  
Alessio Sozzi ◽  
Marcello Bonfè ◽  
Saverio Farsoni ◽  
Giacomo De Rossi ◽  
Riccardo Muradore
Keyword(s):  
Dynamical System ◽  
Fixed Point ◽  
Motion Planning ◽  
Real Time ◽  
Surgical Robots ◽  
Dynamic Changes ◽  
Dynamic Motion ◽  
Dynamic Motion Planning ◽  
Trajectory Generator ◽  
Mechanical Constraint

The paper addresses the problem of the generation of collision-free trajectories for a robotic manipulator, operating in a scenario in which obstacles may be moving at non-negligible velocities. In particular, the paper aims to present a trajectory generation solution that is fully executable in real-time and that can reactively adapt to both dynamic changes of the environment and fast reconfiguration of the robotic task. The proposed motion planner extends the method based on a dynamical system to cope with the peculiar kinematics of surgical robots for laparoscopic operations, the mechanical constraint being enforced by the fixed point of insertion into the abdomen of the patient the most challenging aspect. The paper includes a validation of the trajectory generator in both simulated and experimental scenarios.

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