The Application of Curvature Theory to the Trajectory Generation Problem of Robot Manipulators

1992 ◽  
Vol 114 (4) ◽  
pp. 677-680 ◽  
Author(s):  
M. M. Stanisˇic´ ◽  
K. Lodi ◽  
G. R. Pennock
Keyword(s):  
Robot Manipulators ◽  
Trajectory Generation ◽  
Rate Of Change ◽  
Speed Ratio ◽  
Coordination Problem ◽  
Geometric Problem ◽  
Curvature Theory ◽  
Instantaneous Speed ◽  
Generation Problem

This paper illustrates a new application of planar curvature theory to the geometric problem of trajectory generation by a two-link manipulator. The theory yields the instantaneous speed ratio, and the rate of change of the speed ratio, which correspond to the geometry of a desired point trajectory. Separate from the purely geometric speed ratio problem (i.e., the coordination problem) is the time based problem of controlling the joint rates in order to move with the specified path variables.

An Application of Planar Two Parameter Motion Curvature Theory to the Trajectory Generation Problem of a Two-Link Manipulator

1992 ◽  
Author(s):  
M. M. Stanišić ◽  
K. Lodi ◽  
G. R. Pennock
Keyword(s):  
Trajectory Generation ◽  
Rate Of Change ◽  
Speed Ratio ◽  
Coordination Problem ◽  
Geometric Problem ◽  
Curvature Theory ◽  
Instantaneous Speed ◽  
Generation Problem ◽  
Two Parameter

Abstract This paper illustrates a new application of planar curvature theory to the geometric problem of trajectory generation by a two-link manipulator. The theory yields the instantaneous speed ratio, and the rate of change of the speed ratio, which correspond to the geometry of a desired point trajectory. Separate from the purely geometric speed ratio problem (i.e. the coordination problem) is the time based problem of controlling the joint rates in order to move with the specified path variables.

A New Trajectory-Generation Scheme for Overhead Cranes With High-Speed Load Hoisting

2004 ◽  
Author(s):  
Ho-Hoon Lee ◽  
Del Segura ◽  
Yi Liang
Keyword(s):  
High Speed ◽  
High Performance ◽  
Trajectory Generation ◽  
Control Law ◽  
Mathematical Tool ◽  
Lyapunov Stability Theorem ◽  
Overhead Cranes ◽  
Time Control ◽  
Load Swing ◽  
Generation Problem

This paper proposes a new trajectory-generation scheme for a high-performance anti-swing control of overhead cranes, where the trajectory-generation problem is solved as a kinematic problem. First, a new anti-swing control law is designed based on the load-swing dynamics, for which the Lyapunov stability theorem is used as a mathematical tool. Then a new trajectory-generation scheme is proposed based on the anti-swing control law and typical crane operation in practice. For g iven hoisting motions, trolley-traveling trajectory references are computed based on the concept of minimum-time control, and then anti-swing trajectories are generated based on the trajectory references through the anti-swing control law. The new trajectory-generation scheme generates a typical anti-swing trajectory in industry with high-speed load hoisting. The effectiveness of the proposed trajectory-generation scheme is shown by generating high-performance anti-swing trajectories with high hoisting speed and hoisting ratio.

Trajectory Generation for Redundant Manipulator using Virus-Evolutionary Genetic Algorithm with Subpopulations

1997 ◽  
Vol 1 (2) ◽  
pp. 155-161
Author(s):  
Takemasa Arakawa ◽  
◽  
Toshio Fukuda ◽  
Naoyuki Kubota ◽  
Keyword(s):  
Genetic Algorithm ◽  
Genetic Information ◽  
Energy Optimization ◽  
Trajectory Generation ◽  
Redundant Manipulators ◽  
Redundant Manipulator ◽  
Theory Of Evolution ◽  
Evolutionary Genetic ◽  
Generation Problem ◽  
Virus Theory

In this paper, we apply a virus-evolutionary genetic algorithm with subpopulations (VEGAS) to a trajectory generation problem for redundant manipulators through energy optimization. VEGAS is based on the virus theory of evolution and VEGAS has some subpopulations that usually evolve independently. In the same subpopulation, a virus infects host individuals. And a virus sometimes immigrates from one subpopulation to another. The genetic information from one subpopulation propagates in another subpopulation only through immigration of the virus. The energy-optimized collision-free trajectory was found successfully using VEGAS.

scholarly journals A simultaneous trajectory generation method for quadcopter intercepting ground mobile vehicle

2017 ◽  
Vol 14 (4) ◽  
pp. 172988141771770 ◽  
Author(s):  
Jiangcheng Zhu ◽  
Jun Zhu ◽  
Chao Xu
Keyword(s):  
Dynamic Programming ◽  
Trajectory Generation ◽  
Closed Form Solution ◽  
Form Solution ◽  
Ground Vehicle ◽  
Mobile Vehicle ◽  
Commercial Flight ◽  
Interaction Problem ◽  
Trajectory Generator ◽  
Generation Problem

This article proposes a trajectory generator for quadcopter to intercept moving ground vehicle. For this air–ground interaction problem, we formulate the trajectory generation problem as quadratic dynamic programming in a moving-horizon scheme based on the quadcopter kinematics and observation to ground vehicle. The closed-form solution of quadratic dynamic programming in each iteration enables this algorithm a real-time replanning performance. Thereafter, segmented trajectory rule, inspired from commercial flight landing regular, is implemented to guarantee smoothness in approaching and interception to moving ground target from comparably far origin. Our established algorithm is verified through both simulations and experiments.

New Complex-Number Form of the Cubic of Stationary Curvature in a Computer-Oriented Treatment of Planar Path-Curvature Theory for Higher-Pair Rolling Contact

1982 ◽  
Vol 104 (1) ◽  
pp. 233-238 ◽  
Author(s):  
G. N. Sandor ◽  
A. G. Erdman ◽  
L. Hunt ◽  
E. Raghavacharyulu
Keyword(s):  
Complex Number ◽  
Rate Of Change ◽  
Rolling Contact ◽  
Planar Mechanisms ◽  
Digital Computation ◽  
Complex Arithmetic ◽  
Moving Plane ◽  
Curvature Theory ◽  
Path Curvature ◽  
Number Form

New complex number forms of the Euler-Savary Equation (ESE) for higher-pair rolling contact planar mechanisms were derived in a former paper by the authors. The present work, based on the former, deals with the derivation of the cubic of stationary curvature (CSC) in complex-vector form, suitable for digital computation. The CSC or Burmester’s circlepoint curve and its conjugate, the centerpoint curve for four infinitesimally close positions of the moving plane requires taking into account not only the curvature but also the rate of change of curvature of the rolling centrodes in the immediate vicinity of the position considered. The analytical procedure based on the theory developed in the present paper, when programmed for digital computation using complex arithmetic, takes care of the algebraic signs automatically, without the need for observing traditional sign conventions. The analysis is applicable to both higher-pair and lower-pair planar mechanisms. An example using the complex-number approach illustrates this.

Motion Interpolation With G2 Composite Bézier Motions

1994 ◽  
Author(s):  
Q. J. Ge ◽  
Donglai Kang
Keyword(s):  
Robot Manipulators ◽  
Trajectory Generation ◽  
Second Order ◽  
Inverse Design ◽  
Geometric Continuity ◽  
Direct Construction ◽  
Cnc Machines ◽  
Smooth Motion ◽  
Computer Aided ◽  
Refined Version

Abstract This paper deals with smooth motion interpolation. Recently, a direct construction algorithm was developed for designing piecewise parametric motions with second order geometric continuity (G2). The present paper provides a refined version of the G2 spline algorithm and shows how the G2 spline motion can be used to fulfill the task of motion interpolation by solving the problem of inverse design for the G2 spline motion. The results are useful for computer aided motion animation, and Cartesian trajectory generation for CNC machines and robot manipulators.

Sign in / Sign up

Export Citation Format

Share Document