Cartesian-Space Motion Planning for Autonomous Construction Machines

2017 ◽  
Author(s):  
Matteo Ragaglia ◽  
Alfredo Argiolas ◽  
Marta Niccolini
Keyword(s):  
Motion Planning ◽  
Cartesian Space ◽  
Space Motion ◽  
Autonomous Construction

A QP-Based Approach to Kinematic Motion Planning of Multibody Systems

2015 ◽  
Author(s):  
Junggon Kim ◽  
Rudranarayan Mukherjee
Keyword(s):  
Motion Planning ◽  
Multibody Systems ◽  
Linear Constraints ◽  
Software Implementation ◽  
Robotic Systems ◽  
Time Step ◽  
Kinematic Constraints ◽  
Cartesian Space ◽  
Kinematic Motion ◽  
Dual Arm

This article presents a quadratic programming (QP) based approach to local kinematic motion planning of general multibody robotic systems. Given kinematic constraints and targets such as desired positions and orientations in Cartesian space, we find locally optimal joint velocities toward the targets at every time step by formulating the problem into a constrained optimization with a quadratic objective function and linear constraints in terms of the joint velocities. The solution is integrated to obtain the joint displacements at the next time step, and this process is repeated until reaching the targets or converging to a certain configuration. Our formulation based on relative Jacobian is particularly useful in handling constraints on relative motions, which arises in many practical problems such as dual-arm manipulation and self-collision avoidance, in a concise manner. A brief overview of our software implementation and its applications to manipulation and mobility planning of a simulated multi-limbed robot are also presented.

Space Motion Planning for one Kind of Six-Axis Robot Based on Inverse Kinematics

2014 ◽  
Vol 494-495 ◽  
pp. 1310-1315
Author(s):  
Xu Jin ◽  
Gang Feng Yan
Keyword(s):  
Motion Planning ◽  
Inverse Kinematics ◽  
Robot Control ◽  
Interpolation Method ◽  
High Accuracy ◽  
Quick Response ◽  
Transfer Matrices ◽  
Industrial Manufacture ◽  
Space Motion

Robot control is of great importance in modern industrial manufacture. This paper introduces a motion planning of one kind of six-axis robot. D-H Model and transfer matrices are constructed based on a certain kind of six-axis robot. Inverse kinematics method is applied to obtain every angle of axes, which can work out the space trajectory in DSP with an interpolation method. Experiments and simulations show that the motion planning achieves a quick response and high accuracy.

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