Minimum time trajectory planning for dual robot systems

2003 ◽  
Author(s):  
K.G. Shin ◽  
Q. Zheng
Keyword(s):  
Trajectory Planning ◽  
Minimum Time ◽  
Robot Systems

Trajectory planning for coordinately operating robots

1990 ◽  
Vol 4 (3) ◽  
pp. 165-177 ◽  
Author(s):  
Y. P. Chien ◽  
Qing Xue
Keyword(s):  
Trajectory Planning ◽  
Three Dimensional ◽  
Initial Position ◽  
Minimum Time ◽  
Future Research ◽  
Rigid Object ◽  
Redundant Robots ◽  
Planning Algorithm ◽  
The Common ◽  
Joint Velocity

An efficient locally minimum-time trajectory planning algorithm for coordinately operating multiple robots is introduced. The task of the robots is to carry a common rigid object from an initial position to a final position along a given path in three-dimensional workspace in minimum time. The number of robots in the system is arbitrary. In the proposed algorithm, the desired motion of the common object carried by the robots is used as the key to planning of the trajectories of all the non-redundant robots involved. The search method is used in the trajectory planning. The planned robot trajectories satisfy the joint velocity, acceleration and torque constraints as well as the path constraints. The other constraints such as collision-free constraints, can be easily incorporated into the trajectory planning in future research.

scholarly journals 3D Trajectory Planning Method for UAVs Swarm in Building Emergencies

Sensors ◽  
2020 ◽  
Vol 20 (3) ◽  
pp. 642 ◽  
Author(s):  
Ángel Madridano ◽  
Abdulla Al-Kaff ◽  
David Martín ◽  
and Arturo de la de la Escalera
Keyword(s):  
Emergency Response ◽  
Trajectory Planning ◽  
Essential Elements ◽  
Urban Environments ◽  
Robot Operating System ◽  
Probabilistic Roadmaps ◽  
Scalable Systems ◽  
Robot Systems ◽  
Response Team ◽  
And Control

The development in Multi-Robot Systems (MRS) has become one of the most exploited fields of research in robotics in recent years. This is due to the robustness and versatility they present to effectively undertake a set of tasks autonomously. One of the essential elements for several vehicles, in this case, Unmanned Aerial Vehicles (UAVs), to perform tasks autonomously and cooperatively is trajectory planning, which is necessary to guarantee the safe and collision-free movement of the different vehicles. This document includes the planning of multiple trajectories for a swarm of UAVs based on 3D Probabilistic Roadmaps (PRM). This swarm is capable of reaching different locations of interest in different cases (labeled and unlabeled), supporting of an Emergency Response Team (ERT) in emergencies in urban environments. In addition, an architecture based on Robot Operating System (ROS) is presented to allow the simulation and integration of the methods developed in a UAV swarm. This architecture allows the communications with the MavLink protocol and control via the Pixhawk autopilot, for a quick and easy implementation in real UAVs. The proposed method was validated by experiments simulating building emergences. Finally, the obtained results show that methods based on probability roadmaps create effective solutions in terms of calculation time in the case of scalable systems in different situations along with their integration into a versatile framework such as ROS.

scholarly journals Multi-Robot Trajectory Planning and Position/Force Coordination Control in Complex Welding Tasks

2019 ◽  
Vol 9 (5) ◽  
pp. 924 ◽  
Author(s):  
Yahui Gan ◽  
Jinjun Duan ◽  
Ming Chen ◽  
Xianzhong Dai
Keyword(s):  
Trajectory Planning ◽  
Cooperative Control ◽  
Impedance Control ◽  
Welding Process ◽  
Coordination Control ◽  
Control Approach ◽  
Force Coordination ◽  
Force Tracking ◽  
Robot Systems ◽  
Multi Robot

In this paper, the trajectory planning and position/force coordination control of multi-robot systems during the welding process are discussed. Trajectory planning is the basis of the position/ force cooperative control, an object-oriented hierarchical planning control strategy is adopted firstly, which has the ability to solve the problem of complex coordinate transformation, welding process requirement and constraints, etc. Furthermore, a new symmetrical internal and external adaptive variable impedance control is proposed for position/force tracking of multi-robot cooperative manipulators. Based on this control approach, the multi-robot cooperative manipulator is able to track a dynamic desired force and compensate for the unknown trajectory deviations, which result from external disturbances and calibration errors. In the end, the developed control scheme is experimentally tested on a multi-robot setup which is composed of three ESTUN industrial manipulators by welding a pipe-contact-pipe object. The simulations and experimental results are strongly proved that the proposed approach can finish the welding task smoothly and achieve a good position/force tracking performance.

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