scholarly journals Effect of motion discontinuities on discrimination of periodic trajectories

2016 ◽  
Vol 16 (3) ◽  
pp. 24 ◽  
Author(s):  
Hugh R. Wilson ◽  
Jeffrey Fung
Keyword(s):  
Periodic Trajectories ◽  
Motion Discontinuities

scholarly journals Periodic Trajectories on Lorentz Manifolds Under the Action of a Vector Field

2000 ◽  
Vol 166 (2) ◽  
pp. 478-500 ◽  
Author(s):  
Rossella Bartolo ◽  
Elvira Mirenghi ◽  
Maria Tucci
Keyword(s):  
Vector Field ◽  
Periodic Trajectories ◽  
Lorentz Manifolds

Dynamically Feasible Periodic Trajectories for Generic Spatial Three-Degree-of-Freedom Cable-Suspended Parallel Robots1

2018 ◽  
Vol 10 (3) ◽  
Author(s):  
Giovanni Mottola ◽  
Clément Gosselin ◽  
Marco Carricato
Keyword(s):  
Real Time ◽  
General Type ◽  
Three Dimensional ◽  
Initial State ◽  
End Effector ◽  
Periodic Trajectories ◽  
Real Time Applications ◽  
State Of Rest ◽  
Three Degree Of Freedom ◽  
Inertia Forces

Cable-suspended robots may move beyond their static workspace by keeping all cables under tension, thanks to end-effector inertia forces. This may be used to extend the robot capabilities, by choosing suitable dynamical trajectories. In this paper, we consider three-dimensional (3D) elliptical trajectories of a point-mass end effector suspended by three cables from a base of generic geometry. Elliptical trajectories are the most general type of spatial sinusoidal motions. We find a range of admissible frequencies for which said trajectories are feasible; we also show that there is a special frequency, which allows the robot to have arbitrarily large oscillations. The feasibility of these trajectories is verified via algebraic conditions that can be quickly verified, thus being compatible with real-time applications. By generalizing previous studies, we also study the possibility to change the frequency of oscillation: this allows the velocity at which a given ellipse is tracked to be varied, thus providing more latitude in the trajectory definition. We finally study transition trajectories to move the robot from an initial state of rest (within the static workspace) to the elliptical trajectory (and vice versa) or to connect two identical ellipses having different centers.

scholarly journals Multi-Robot Coverage and Persistent Monitoring in Sensing-Constrained Environments

Robotics ◽  
2020 ◽  
Vol 9 (2) ◽  
pp. 47
Author(s):  
Tauhidul Alam ◽  
Leonardo Bobadilla
Keyword(s):  
Regions Of Interest ◽  
Multiple Robots ◽  
Periodic Trajectories ◽  
Practical Utility ◽  
Physical Experiments ◽  
Constrained Environments ◽  
Limited Sensing ◽  
Contact Sensors ◽  
Multi Robot ◽  
Persistent Monitoring

This article examines the problems of multi-robot coverage and persistent monitoring of regions of interest with limited sensing robots. A group of robots, each equipped with only contact sensors and a clock, execute a simple trajectory by repeatedly moving straight and then bouncing at perimeter boundaries by rotating in place. We introduce an approach by finding a joint trajectory for multiple robots to cover a given environment and generating cycles for the robots to persistently monitor the target regions in the environment. From a given initial configuration, our approach iteratively finds the joint trajectory of all the robots that covers the entire environment. Our approach also computes periodic trajectories of all the robots for monitoring of some regions, where trajectories overlap but do not involve robot-robot collisions. We present experimental results from multiple simulations and physical experiments demonstrating the practical utility of our approach.

Sign in / Sign up

Export Citation Format

Share Document