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.

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.

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.

Trajectory generation for a four wheel steering tractor-trailer system: a two-step method

Robotica ◽  
1998 ◽  
Vol 16 (4) ◽  
pp. 381-386 ◽  
Author(s):  
Yongji Wang ◽  
M. P. Cartmell
Keyword(s):  
Nonholonomic Constraint ◽  
Basic Problem ◽  
Trajectory Generation ◽  
Step Method ◽  
Robot System ◽  
Control Laws ◽  
System A ◽  
Constraint Problem ◽  
Generation Problem ◽  
Highway System

A basic problem in the development of an intelligent vehicle/highway system (IVHS), or an autonomous mobile robot system (AMRS) is to find suitable input controls which can be used to drive the vehicle between any two configurations. In this paper a trajectory generation problem for a four-wheel-steering tractor/semi-trailer system is investigated, and it is shown that this nonholonomic constraint problem can be converted into one of finding fitting-functions satisfying certain necessary boundary conditions. Proposals for control laws are presented and simulation results for a lane change manoeuvre are given.

The Equation of Instantaneous Speed Ratio between Roller and Workpiece

2010 ◽  
Vol 148-149 ◽  
pp. 322-325
Author(s):  
Tao He ◽  
Bao Yu Wang ◽  
Zheng Huan Hu
Keyword(s):  
Statistical Analysis ◽  
Regression Equation ◽  
Speed Ratio ◽  
Relative Movement ◽  
Analysis Software ◽  
Cross Wedge Rolling ◽  
Experimental Rolling ◽  
Rotating Shafts ◽  
Instantaneous Speed ◽  
Statistical Analysis Software

The instantaneous speed ratio between roller and workpiece is not only the basis of the relative movement relationship but also the key to deriving the curve of non-rotating shafts with cross wedge rolling. In the paper, the instantaneous speed ratio was analyzed by using FEM. Then, the equation of instantaneous speed ratio equation was regressed by using the statistical analysis software. In the meantime, the experimental rolling equipment was designed to verify the accuracy of the regression equation. Satisfactory consistency was demonstrated by comparison of the theoretical values and results obtained from experiments.

scholarly journals Fluvo-metricell, a combined cell volume and cell fluorescence analyzer.

1977 ◽  
Vol 25 (7) ◽  
pp. 804-812 ◽  
Author(s):  
V Kachel ◽  
E Glossner ◽  
E Kordwig ◽  
G Ruhenstroth-Bauer
Keyword(s):  
Cell Volume ◽  
Axial Direction ◽  
Electronic System ◽  
Coordination Problem ◽  
Pulse Technique ◽  
Coefficients Of Variation ◽  
New Type ◽  
Micron Diameter ◽  
Volume Resistance ◽  
Two Parameter

A new flow through instrument that simultaneously measures cell volume (resistance pulse technique) and cell fluorescence in the same orifice will be described. The fluorescence pulses of the hydrodynamically focussed cells are picked up by the optics via the axial direction (principle of Dittrich and Goehde, Z Naturforsch 24b:360, 1969). There is no coordination problem between the fluorescence and the resistance pulses to be observed because a new type of transducer is used. The electronic system provides gating of one or two parameter histograms. Function tests are performed with the incorporated two-parameter test spectrum generator. Different examples of using the instrument in practice are shown. The volume that may be measured with an orifice of 70 micron diameter ranges between 4 and 1400 micron3 (1:350). Coefficients of variation of the fluorescence below 2% are measured.

scholarly journals Euclidean metrics for motion generation on SE(3)

2002 ◽  
Vol 216 (1) ◽  
pp. 47-60 ◽  
Author(s):  
C Belta ◽  
V Kumar
Keyword(s):  
Ad Hoc ◽  
Trajectory Generation ◽  
Rigid Bodies ◽  
Second Step ◽  
Computationally Efficient ◽  
Motion Generation ◽  
Euclidean Group ◽  
Screw Motions ◽  
Euclidean Metrics ◽  
Generation Problem

Previous approaches to trajectory generation for rigid bodies have been either based on the so-called invariant screw motions or on ad hoc decompositions into rotations and translations. This paper formulates the trajectory generation problem in the framework of Lie groups and Riemannian geometry. The goal is to determine optimal curves joining given points with appropriate boundary conditions on the Euclidean group. Since this results in a two-point boundary value problem that has to be solved iteratively, a computationally efficient, analytical method that generates near-optimal trajectories is derived. The method consists of two steps. The first step involves generating the optimal trajectory in an ambient space, while the second step is used to project this trajectory onto the Euclidean group. The paper describes the method, its applications and its performance in terms of optimality and efficiency.

Piecewise affine systems approach to control of biological networks

2010 ◽  
Vol 368 (1930) ◽  
pp. 4977-4993 ◽  
Author(s):  
Jun-Ichi Imura ◽  
Kenji Kashima ◽  
Masami Kusano ◽  
Tsukasa Ikeda ◽  
Tomohiro Morohoshi
Keyword(s):  
Quorum Sensing ◽  
Biological Networks ◽  
Systems Approach ◽  
Design Method ◽  
Trajectory Generation ◽  
Piecewise Affine ◽  
Sensing System ◽  
Quorum Sensing System ◽  
Control Community ◽  
Generation Problem

In terms of a piecewise affine system representation, which is a kind of hybrid system model, this article discusses a series of approaches to modelling, analysing and synthesizing a biological network such as a gene-regulatory network. First, the input assignment problem, the controllable state set problem (CSP) and the input trajectory generation problem are emphasized as control problems to be addressed for biological networks. Subsequently, after the modelling issue on biological networks developed in the systems and control community is briefly explained, the CSP is described in detail with reference to control of the quorum-sensing system in the pathogen Pseudomonas aeruginosa . Finally, an optimal control design method to the quorum-sensing system is proposed as a solution to the input trajectory generation problem.

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