scholarly journals A Synthetic Algorithm for Tracking a Moving Object in a Multiple-Dynamic Obstacles Environment Based on Kinematically Planar Redundant Manipulators

2017 ◽  
Vol 2017 ◽  
pp. 1-15 ◽  
Author(s):  
Hongzhe Jin ◽  
Hui Zhang ◽  
Zhangxing Liu ◽  
Decai Yang ◽  
Dongyang Bie ◽  
...  
Keyword(s):  
Real Time ◽  
Null Space ◽  
Inverse Kinematic ◽  
Moving Object ◽  
Redundant Manipulators ◽  
Joint Angles ◽  
The Real ◽  
Time Path ◽  
Planar Manipulators ◽  
Spline Filter

This paper presents a synthetic algorithm for tracking a moving object in a multiple-dynamic obstacles environment based on kinematically planar manipulators. By observing the motions of the object and obstacles, Spline filter associated with polynomial fitting is utilized to predict their moving paths for a period of time in the future. Several feasible paths for the manipulator in Cartesian space can be planned according to the predicted moving paths and the defined feasibility criterion. The shortest one among these feasible paths is selected as the optimized path. Then the real-time path along the optimized path is planned for the manipulator to track the moving object in real-time. To improve the convergence rate of tracking, a virtual controller based on PD controller is designed to adaptively adjust the real-time path. In the process of tracking, the null space of inverse kinematic and the local rotation coordinate method (LRCM) are utilized for the arms and the end-effector to avoid obstacles, respectively. Finally, the moving object in a multiple-dynamic obstacles environment is thus tracked via real-time updating the joint angles of manipulator according to the iterative method. Simulation results show that the proposed algorithm is feasible to track a moving object in a multiple-dynamic obstacles environment.

The Boltzmann-Langevin equation derived from the real-time path formalism

1992 ◽  
Vol 213 (1) ◽  
pp. 204-229 ◽  
Author(s):  
P.-G. Reinhard ◽  
E. Suraud ◽  
S. Ayik
Keyword(s):  
Real Time ◽  
Langevin Equation ◽  
The Real ◽  
Time Path

scholarly journals The Real-Time Path of Translation Factor IF3 onto and off the Ribosome

2007 ◽  
Vol 25 (2) ◽  
pp. 285-296 ◽  
Author(s):  
Attilio Fabbretti ◽  
Cynthia L. Pon ◽  
Scott P. Hennelly ◽  
Walter E. Hill ◽  
J. Stephen Lodmell ◽  
...  
Keyword(s):  
Real Time ◽  
The Real ◽  
Translation Factor ◽  
Time Path

scholarly journals A Dynamic Bioinspired Neural Network Based Real-Time Path Planning Method for Autonomous Underwater Vehicles

2017 ◽  
Vol 2017 ◽  
pp. 1-16 ◽  
Author(s):  
Jianjun Ni ◽  
Liuying Wu ◽  
Pengfei Shi ◽  
Simon X. Yang
Keyword(s):  
Neural Network ◽  
Path Planning ◽  
Real Time ◽  
Autonomous Underwater Vehicle ◽  
Autonomous Underwater Vehicles ◽  
Planning Method ◽  
Planning Problem ◽  
Detection Range ◽  
The Real ◽  
Time Path

Real-time path planning for autonomous underwater vehicle (AUV) is a very difficult and challenging task. Bioinspired neural network (BINN) has been used to deal with this problem for its many distinct advantages: that is, no learning process is needed and realization is also easy. However, there are some shortcomings when BINN is applied to AUV path planning in a three-dimensional (3D) unknown environment, including complex computing problem when the environment is very large and repeated path problem when the size of obstacles is bigger than the detection range of sensors. To deal with these problems, an improved dynamic BINN is proposed in this paper. In this proposed method, the AUV is regarded as the core of the BINN and the size of the BINN is based on the detection range of sensors. Then the BINN will move with the AUV and the computing could be reduced. A virtual target is proposed in the path planning method to ensure that the AUV can move to the real target effectively and avoid big-size obstacles automatically. Furthermore, a target attractor concept is introduced to improve the computing efficiency of neural activities. Finally, some experiments are conducted under various 3D underwater environments. The experimental results show that the proposed BINN based method can deal with the real-time path planning problem for AUV efficiently.

Application of hybrid fast marching method to determine the real-time path for the biped robot

2018 ◽  
Vol 12 (1) ◽  
pp. 125-136
Author(s):  
Ravi Kumar Mandava ◽  
Mrudul Katla ◽  
Pandu R. Vundavilli
Keyword(s):  
Real Time ◽  
Biped Robot ◽  
Fast Marching Method ◽  
Fast Marching ◽  
The Real ◽  
Time Path ◽  
Marching Method

Analysis of Hyper-Redundant Manipulators

1999 ◽  
Author(s):  
Farshid Maghami Asl ◽  
Hashem Ashrafiuon ◽  
C. Nataraj
Keyword(s):  
Inverse Kinematic ◽  
Redundant Manipulators ◽  
Full Extension ◽  
Inverse Dynamic ◽  
Inverse Kinematic Problem ◽  
New Approach ◽  
Robust Solution ◽  
Numerical Examples ◽  
Planar Manipulators ◽  
Joint Velocity

Abstract A new approach to solve the inverse kinematic problem for hyper-redundant planar manipulators following any desired path is presented. The method is singularity free and provides a robust solution even in the event of mechanical failure of some of the robot actuators. The approach is based on defining virtual layers and dividing them into virtual/real three-link or four-link sub-robots. It starts by solving the inverse kinematic problem for the sub-robot located in the lowest virtual layer, which is then used to solve the inverse kinematic equations for the sub-robots located in the upper virtual layers. An algorithm is developed which provides a singularity-free solution up to full extension through a configuration index. The configuration index can be interpreted as the average of the determinants of the Jacobians of the sub-robots. The equations for the velocities and accelerations of the manipulator are solved by extending the same approach where it is realized that the value of configuration index is critical in maintaining joint velocity continuity. The inverse dynamic problem of the robot is also solved to obtain the torques required for the robot actuators to accomplish its task. Computer simulations of several hyper-redundant manipulators using the proposed method are presented as numerical examples.

Sign in / Sign up

Export Citation Format

Share Document