scholarly journals Analysis and Optimization of Interpolation Points for Quadruped Robots Joint Trajectory

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-17
Author(s):  
Mingfang Chen ◽  
Kaixiang Zhang ◽  
Sen Wang ◽  
Fei Liu ◽  
Jinxin Liu ◽  
...  
Keyword(s):  
Trajectory Planning ◽  
Pso Algorithm ◽  
Joint Space ◽  
Quadruped Robots ◽  
Original Curve ◽  
Temporal Domain ◽  
Trajectory Simulation ◽  
Physical Prototype ◽  
Joint Trajectory Planning ◽  
Actual Trajectory

Trajectory planning is the foundation of locomotion control for quadruped robots. This paper proposes a bionic foot-end trajectory which can adapt to many kinds of terrains and gaits based on the idea of trajectory planning combining Cartesian space with joint space. Trajectory points are picked for inverse kinematics solution, and then quintic polynomials are used to plan joint space trajectories. In order to ensure that the foot-end trajectory generated by the joint trajectory planning is closer to the original Cartesian trajectory, the distributions of the interpolation point are analyzed from the spatial domain to temporal domain. An evaluation function was established to assess the closeness degree between the actual trajectory and the original curve. Subsequently, the particle swarm optimization (PSO) algorithm and genetic algorithm (GA) for the points selection are used to obtain a more precise trajectory. Simulation and physical prototype experiments were included to support the correctness and effectiveness of the algorithms and the conclusions.

scholarly journals Joint Trajectory Planning of Space Modular Reconfigurable Satellites Based on Kinematic Model

2020 ◽  
Vol 2020 ◽  
pp. 1-17
Author(s):  
Jiping An ◽  
Xinhong Li ◽  
Zhibin Zhang ◽  
Wanxin Man ◽  
Guohui Zhang
Keyword(s):  
Coordinate System ◽  
Trajectory Planning ◽  
Coupling Effect ◽  
Kinematic Model ◽  
Pso Algorithm ◽  
Order Polynomial ◽  
Movement Stability ◽  
Joint Motions ◽  
Joint Trajectory Planning ◽  
Joint Coordinate System

This paper investigates the application of particle swarm optimization (PSO) algorithm to plan joint trajectories of the space modular reconfigurable satellite (SMRS). SMRS changes its configuration by joint motions to complete various space missions; its movement stability is affected by joints motions because of the dynamic coupling effect in space. To improve the movement stability in reconfiguration progress, this paper establishes the optimization object equation to characterize the movement stability of SMRS in its reconfiguration process. The velocity-level and position-level kinematic models based on the proposed virtual joint coordinate system of SMRS are derived. The virtual joint coordinate system solves the problem of asymmetric joint coordinate system resulted by the asymmetric joint arrangement of SMRS. The six-order and seven-order polynomial curves are chosen to parameterize the joint trajectories and ensure the continuous position, velocity, and acceleration of joint motions. Finally, PSO algorithm is used to optimize the trajectory parameters in two cases. Consistent optimization results in terms of the six-order and seven-order polynomial in both cases prove the PSO algorithm can be effectively used for joint trajectory planning of SMRS.

Motion Control of Welding Robot Based on ADAMS and ACR-9000

2012 ◽  
Vol 542-543 ◽  
pp. 789-794
Author(s):  
Yong Zhong Du ◽  
Xue Liang Ping ◽  
Lu Gang Chen ◽  
Wei Bin Xu
Keyword(s):  
Trajectory Planning ◽  
Inverse Kinematics ◽  
Welding Robot ◽  
Motion Controller ◽  
New Approach ◽  
Trajectory Simulation ◽  
Physical Prototype ◽  
Forward And Inverse Kinematics ◽  
Simulation Results ◽  
D Model

Based on some relevant theories of robotics such as trajectory planning, the forward and inverse kinematics solutions and DH convention, this paper proposes a new approach towards testing the physical prototype. The approach sets up a 3-D model for a 6-DOF welding robot , works out the simulation results of expected processing trajectory planning for six rods in MATLAB, verifies the trajectory simulation results with the built-in Robot Toolbox of MATLAB, And controls the robot to draw a circle with the ACR9000 motion controller.

scholarly journals Industrial robot trajectory planning based on improved pso algorithm

2021 ◽  
Vol 1820 (1) ◽  
pp. 012185
Author(s):  
Shunjie Han ◽  
Xinchao Shan ◽  
Jinxin Fu ◽  
Weijin Xu ◽  
Hongyan Mi
Keyword(s):  
Trajectory Planning ◽  
Industrial Robot ◽  
Pso Algorithm ◽  
Robot Trajectory ◽  
Improved Pso ◽  
Robot Trajectory Planning

A New Method of 6-DOF Serial Robot’s Trajectory Planning under Multi-Constraints

2014 ◽  
Vol 602-605 ◽  
pp. 1352-1357 ◽  
Author(s):  
Yong Ting Zhao ◽  
Bin Zheng ◽  
Hong Lin Ma
Keyword(s):  
Coordinate System ◽  
Trajectory Planning ◽  
Angular Displacement ◽  
Joint Space ◽  
New Method ◽  
Position Information ◽  
Physical Constraints ◽  
Dynamic Constraints ◽  
Quaternion Interpolation ◽  
And Performance

This paper proposes a new method of 6-DOF serial robot’s trajectory planning. Ensuring to satisfy the physical constraints of space conditions, the robot’s trajectory is interpolated in the Cartesian coordinate system, and using quaternion interpolation to solve the multiple solution problem in RPY interpolation. Meanwhile, the interpolated position information is transformed into the angular displacement information of the joint coordinate system, and the joint space trajectory planning is achieved using the genetic algorithms integrated velocity, acceleration, jerk and torque and other important kinematic and dynamic constraints. In robot safety and stability, the method is better than the general approach, and it has both the ideal trajectory parameters of the global search ability and performance planning.

Joint space trajectory planning for flexible manipulators

1995 ◽  
Vol 12 (5) ◽  
pp. 287-299 ◽  
Author(s):  
Chih-Min Yao ◽  
Wen-Hon Cheng
Keyword(s):  
Trajectory Planning ◽  
Joint Space ◽  
Flexible Manipulators

scholarly journals Leg Locomotion Adaption for Quadruped Robots with Ground Compliance Estimation

2020 ◽  
Vol 2020 ◽  
pp. 1-15
Author(s):  
Songyuan Zhang ◽  
Hongji Zhang ◽  
Yili Fu
Keyword(s):  
Trajectory Planning ◽  
Position Control ◽  
Impedance Control ◽  
Contact Dynamics ◽  
Polar Coordinates ◽  
Geometric Transformation ◽  
Identification System ◽  
Locomotion Control ◽  
Quadruped Robots ◽  
Test Platform

Locomotion control for quadruped robots is commonly applied on rigid terrains with modelled contact dynamics. However, the robot traversing different terrains is more important for real application. In this paper, a single-leg prototype and a test platform are built. The Cartesian coordinates of the foot-end are obtained through trajectory planning, and then, the virtual polar coordinates in the impedance control are obtained through geometric transformation. The deviation from the planned and actual virtual polar coordinates and the expected force recognized by the ground compliance identification system are sent to the impedance controller for different compliances. At last, several experiments are carried out for evaluating the performance including the ground compliance identification, the foot-end trajectory control, and the comparison between pure position control and impedance control.

scholarly journals Kinematic analysis of a newly designed cable-driven manipulator

2018 ◽  
Vol 42 (2) ◽  
pp. 125-135 ◽  
Author(s):  
Wei Xu ◽  
Yaoyao Wang ◽  
Surong Jiang ◽  
Jiafeng Yao ◽  
Bai Chen
Keyword(s):  
Trajectory Planning ◽  
Kinematic Analysis ◽  
Joint Space ◽  
Joint Angles ◽  
Coupled Motion ◽  
Cartesian Space ◽  
The Impact ◽  
The Relationship

In this paper, the cable routing configurations for a cable-driven manipulator are introduced, and the impact of motion coupling caused by cable transmission routing of a 2n type cable-driven manipulator is analyzed in detail. Based on different configurations of cable routings, the relationship between variation of joint angles and the geometrical sizes of guide pulleys is established, represented by a matrix for coupled motion. Moreover, based on the effects of the motion coupling of a cable-driven manipulator, we propose the condition for the invariance of orientation, which can be achieved constraining of the geometrical sizes of guide pulleys and driven wheels. In addition, to identify the correctness of analysis for coupled motion, a 3-DOFs planer cable-driven manipulator prototyping model is constructed, and the kinematics and trajectory planning has been solved. Finally, the relationship among actuator space, joint space, and Cartesian space, including the mapping of the motion coupling, is experimentally validated. The property of invariance of orientation is also validated by an experiment.

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