A Theory for the Articulation of Planar Robots: Part II—Motion Planning Procedure for Interference Avoidance

1987 ◽  
Vol 109 (1) ◽  
pp. 37-41 ◽  
Author(s):  
L. Young ◽  
J. Duffy
Keyword(s):  
Motion Planning ◽  
Angular Displacement ◽  
Interference Avoidance ◽  
Planning Procedure ◽  
Planar Robots

This paper presents a motion planning procedure for planar robots which provides the robots with abilities to change flexure (i.e., to articulate) and hence to avoid interference with other robots or with obstacles. The angular displacement for each of the joints will be determined using those motion planning procedures.

A Synthesis Procedure for Design of 3-R Planar Robotic Workcells in Which Large Rotations Are Required at the Workpiece

1992 ◽  
Vol 114 (4) ◽  
pp. 547-558 ◽  
Author(s):  
J. K. Davidson
Keyword(s):  
Motion Planning ◽  
Computer Science ◽  
New Method ◽  
Motion Trajectory ◽  
End Effector ◽  
Radial Location ◽  
Full Turn ◽  
Large Rotations ◽  
Synthesis Procedure ◽  
Planar Robots

A new method is developed for determining both a satisfactory location of a workpiece and a suitable mounting-angle of the tool for planar 3-R robots that can provide dexterous workspace. The method is an adaptation of traditional techniques of linkage synthesis, and it is particularly well-suited to applications in which the motion-trajectory requires large rotations of the end-effector. It is determined that, when the trajectory requires that the end-effector rotate a full turn at just two locations and when the critical joint in the robot is rotatable by one turn, then the radial location of the workpiece is fixed in the workcell but its angular location is not fixed. When the mounting-angle of the tool is also a variable, the method accommodates trajectories in which the tool must rotate a full turn at three locations on the workpiece. The method can be applied not only to planar robots with three hinge-joints, but also to spatial robots, each with a planar 3-R module, when the principal attitudinal excursions of the trajectory are all about a set of parallel axes. Variables are identified, for both the motion-trajectory and the workpiece itself, which strongly affect the design of the workcell and the time for it to complete a motion-trajectory. Example problems illustrate the method. The new method is suggested as an alternative to the existing methods of computer science for motion-planning.

scholarly journals A characterization of the reconfiguration space of self-reconfiguring robotic systems

Robotica ◽  
2011 ◽  
Vol 29 (1) ◽  
pp. 73-85 ◽  
Author(s):  
Tom Larkworthy ◽  
Subramanian Ramamoorthy
Keyword(s):  
Motion Planning ◽  
Infinite Sequence ◽  
Algorithm Design ◽  
Spectral Graph Theory ◽  
Robotic Systems ◽  
Spectral Graph ◽  
Planning Procedure ◽  
Different Types ◽  
Positive Effect

SUMMARYMotion planning for self-reconfiguring robots can be made efficient by exploiting potential reductions to suitably large subspaces. However, there are no general techniques for identifying suitable restrictions that have a positive effect on planning efficiency. We present two approaches to understanding the structure that is required of the subspaces, which leads to improvement in efficiency of motion planning. This work is presented in the context of a specific motion planning procedure for a hexagonal metamorphic robot. First, we use ideas from spectral graph theory – empirically estimating the algebraic connectivity of the state space – to show that the HMR model is better structured than many alternative motion catalogs. Secondly, using ideas from graph minor theory, we show that the infinite sequence of subspaces generated by configurations containing increasing numbers of subunits is well ordered, indicative of regularity of the space as complexity increases. We hope that these principles could inform future algorithm design for many different types of self-reconfiguring robotics problems.

scholarly journals Soft subdivision motion planning for complex planar robots

2021 ◽  
Vol 92 ◽  
pp. 101683
Author(s):  
Bo Zhou ◽  
Yi-Jen Chiang ◽  
Chee Yap
Keyword(s):  
Motion Planning ◽  
Planar Robots

scholarly journals A novel multiple-heuristic approach for singularity-free motion planning of spatial parallel manipulators

Robotica ◽  
2008 ◽  
Vol 26 (5) ◽  
pp. 679-689 ◽  
Author(s):  
Houssem Abdellatif ◽  
Bodo Heimann
Keyword(s):  
Motion Planning ◽  
Cost Function ◽  
Geometric Modeling ◽  
Closed Loop ◽  
Parallel Manipulators ◽  
Parallel Robots ◽  
Heuristic Approach ◽  
Novel Approach ◽  
Planning Procedure ◽  
Open Question

SUMMARYThe issue of motion planning for closed-loop mechanisms, such as parallel manipulators or robots, is still an open question. This paper proposes a novel approach for motion planning of spatial parallel robots. The framework for the geometric modeling is based on the visibility graph methodology. It is opted for a multiple-heuristics approach, where different influences are integrated in a multiplicative way within the heuristic cost function. Since the issue of singularities is a fundamental one for parallel robots, it is emphasized on the avoidance of such configurations. To include singularity-free planning within the heuristic approach, two heuristic functions are proposed, the inverse local dexterity as well as a novel defined “next-singularity” function, in such a way, well conditioned motions can be provided by a single planning procedure. The success of the method is illustrated by some examples.

Extending and evaluating the posture-based model of motion planning

2006 ◽  
Author(s):  
Jonathan Vaughan ◽  
Steven Jax ◽  
David A. Rosenbaum
Keyword(s):  
Motion Planning

Motion Planning in ROS

2012 ◽  
Author(s):  
Ioan Sucan ◽  
Sachin Chitta
Keyword(s):  
Motion Planning

Control of processing at multi-tool two-support setup

2020 ◽  
pp. 67-73
Author(s):  
N.D. YUsubov ◽  
G.M. Abbasova
Keyword(s):  
Degrees Of Freedom ◽  
Factor Model ◽  
Angular Displacement ◽  
Factor Models ◽  
Technological System ◽  
Displacement Control ◽  
Model Accuracy ◽  
Six Degrees Of Freedom ◽  
Angular Displacements ◽  
And Control

The accuracy of two-tool machining on automatic lathes is analyzed. Full-factor models of distortions and scattering fields of the performed dimensions, taking into account the flexibility of the technological system on six degrees of freedom, i. e. angular displacements in the technological system, were used in the research. Possibilities of design and control of two-tool adjustment are considered. Keywords turning processing, cutting mode, two-tool setup, full-factor model, accuracy, angular displacement, control, calculation [email protected]

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