Download or read book Motion Planning for Manipulator in Dynamic Environment Using RGB D Sensor written by and published by . This book was released on 2021 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Practical Sensor based Manipulator Motion Planning in Completely Unknown Dynamic Environments written by Rayomand Soli Vatcha and published by . This book was released on 2006 with total page 72 pages. Available in PDF, EPUB and Kindle. Book excerpt: Autonomous high-DOF robot manipulators working in unstructured environments has been one of the ultimate challenges in robotics research. Progress towards this goal requires advances in many domains, including manipulator motion planning in unknown and dynamic environments. Where there is relatively little work in the literature. This thesis presents a novel and practical approach to sensor-based real-time motion planning for manipulators in a completely unknown dynamic environment. The approach is implemented and tested on a real 5-DOF robot manipulator equipped with an overhead stereo vision system with good results.

Download or read book Motion Planning for Dynamic Agents written by Zain Anwar Ali and published by BoD – Books on Demand. This book was released on 2024-01-17 with total page 152 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book, Motion Planning for Dynamic Agents, presents a thorough overview of current advancements and provides insights into the fascinating and vital field of aeronautics. It focuses on modern research and development, with an emphasis on dynamic agents. The chapters address a wide range of complex capabilities, including formation control, guidance and navigation, control techniques, wide-space coverage for inspection and exploration, and the best pathfinding in unknown territory. This book is a valuable resource for scholars, practitioners, and amateurs alike due to the variety of perspectives that are included, which help readers gain a sophisticated understanding of the difficulties and developments in the area of study.

Download or read book Realtime Motion Planning for Manipulator Robots Under Dynamic Environments written by Olabanjo Ogunlowore and published by . This book was released on 2013 with total page 113 pages. Available in PDF, EPUB and Kindle. Book excerpt: This report presents optimal control methods integrated with hierarchical control framework to realize real-time collision-free optimal trajectories for motion control in kinematic chain manipulator (KCM) robot systems under dynamic environments. Recently, they have been increasingly used in applications where manipulators are required to interact with random objects and humans. As a result, more complex trajectory planning schemes are required. The main objective of this research is to develop new motion control strategies that can enable such robots to operate efficiently and optimally in such unknown and dynamic environments. Two direct optimal control methods: The direct collocation method and discrete mechanics for optimal control methods are investigated for solving the related constrained optimal control problem and the results are compared. Using the receding horizon control structure, open-loop sub-optimal trajectories are generated as real-time input to the controller as opposed to the predefined trajectory over the entire time duration. This, in essence, captures the dynamic nature of the obstacles. The closed-loop position controller is then engaged to span the robot end-effector along this desired optimal path by computing appropriate torque commands for the joint actuators. Employing a two-degree of freedom technique, collision-free trajectories and robot environment information are transmitted in real-time by the aid of a bidirectional connectionless datagram transfer. A hierarchical network control platform is designed to condition triggering of precedent activities between a dedicated machine computing the optimal trajectory and the real-time computer running a low-level controller. Experimental results on a 2-link planar robot are presented to validate the main ideas. Real-time implementation of collision-free workspace trajectory control is achieved for cases where obstacles are arbitrarily changing in the robot workspace.

Download or read book ROBOT 2017 Third Iberian Robotics Conference written by Anibal Ollero and published by Springer. This book was released on 2017-12-21 with total page 859 pages. Available in PDF, EPUB and Kindle. Book excerpt: These volumes of "Advances in Intelligent Systems and Computing" highlight papers presented at the "Third Iberian Robotics Conference (ROBOT 2017)". Held from 22 to 24 November 2017 in Seville, Spain, the conference is a part of a series of conferences co-organized by SEIDROB (Spanish Society for Research and Development in Robotics) and SPR (Portuguese Society for Robotics). The conference is focused on Robotics scientific and technological activities in the Iberian Peninsula, although open to research and delegates from other countries. Thus, it has more than 500 authors from 21 countries. The volumes present scientific advances but also robotic industrial applications, looking to promote new collaborations between industry and academia.

Download or read book Motion Planning and Sensory Processing in a Dynamic Environment written by and published by . This book was released on 1994 with total page 34 pages. Available in PDF, EPUB and Kindle. Book excerpt: The objective of this research is to develop a sensor controlled intelligent mobile robot system for operating in a dynamic environment. In contrast to approaches for operating in a static environment, the proposed method is designed explicitly for navigation in dynamic environments and is able to immediately modify its control strategies in response to unexpected changes in the environment. The research herein is divided into two major areas: motion planning and sensory processing. The motion planning research introduces the concept of traversability vectors which can be used to represent a dynamic environment, and uses a temporal reasoning scheme to plan the robot motion. The primary research in sensory processing being the control or integration of multiple sensors on the mobile robot so as to allow for their coordinated use for the detection and avoidance of objects and obstacles in the environment.

Download or read book Task Based Global Motion Planning of Multiple Manipulators in Time varying Environments written by Achint Aggarwal and published by . This book was released on 2009 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: The field of robotics is clearly seen to be heading towards a world in which humans and robots can exist together safely and coherently be it in industries, households or battlefields. The primary obstacle for this harmonistic coexistence is the inability of robots to interact effectively and safely with the environment. Human machine interaction still seems to be far off until the development of effective and reliable robots that understand their environment and interact with it safely. The application of robots in industrial environments has over the last two decades received a significant impetus, such that the robots can now perform pre-programmed and repetitive low-valued tasks almost to perfection. However, the need of the hour is to make robots go beyond this level and practically start augmenting human capability and reducing human drudgery even outside the factory floor. This makes robot motion planning one of the most important areas in robotics research. Without a motion planner for manipulators and mobile robots, human operators have to constantly monitor and define their detailed motion. An automatic motion planner will relieve the operators from this tedious job and enable them to exercise control at a supervisory level. This in turn, increases efficiency by eliminating human errors. Further, path planning can be considered to be the backbone of any motion planning algorithm. An efficient path planner with added performance criteria and constraints makes an efficient motion planner. This specific research effort of developing a motion planner falls within the broader goal of developing a safety architecture that enables high performance intelligent machines that coexist and cooperate safely with other systems and humans. A large body of research in the area of robotics focuses on the path planning of mobile robots while the manipulators' ability to effectively operate autonomously in cluttered and dynamically changing environments stays relatively under explored. This work will rely on the past achievements in collision detection, obstacle avoidance and motion planning of the Robotics Research Group (RRG) at the University of Texas at Austin (UT Austin). This area of research offers chances for a wide breadth of advancement in robotics as it can be applied to traditional stationary robots, both redundant and non-redundant manipulators, as well as to mobile manipulators where both the path of the manipulator itself and the path of the manipulator's mobile base must be accounted for when attempting to plan collision free paths.

Download or read book Dynamic Motion Planning for Robot Manipulators Using B splines written by Chia-Yu Eric Wang and published by . This book was released on 2001 with total page 310 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Repetitive Motion Planning and Control of Redundant Robot Manipulators written by Yunong Zhang and published by Springer Science & Business Media. This book was released on 2014-07-08 with total page 201 pages. Available in PDF, EPUB and Kindle. Book excerpt: Repetitive Motion Planning and Control of Redundant Robot Manipulators presents four typical motion planning schemes based on optimization techniques, including the fundamental RMP scheme and its extensions. These schemes are unified as quadratic programs (QPs), which are solved by neural networks or numerical algorithms. The RMP schemes are demonstrated effectively by the simulation results based on various robotic models; the experiments applying the fundamental RMP scheme to a physical robot manipulator are also presented. As the schemes and the corresponding solvers presented in the book have solved the non-repetitive motion problems existing in redundant robot manipulators, it is of particular use in applying theoretical research based on the quadratic program for redundant robot manipulators in industrial situations. This book will be a valuable reference work for engineers, researchers, advanced undergraduate and graduate students in robotics fields. Yunong Zhang is a professor at The School of Information Science and Technology, Sun Yat-sen University, Guangzhou, China; Zhijun Zhang is a research fellow working at the same institute.

Download or read book Adaptive State Time Lattices A Contribution to Mobile Robot Motion Planning in Unstructured Dynamic Environments written by Petereit, Janko and published by KIT Scientific Publishing. This book was released on 2017-01-20 with total page 282 pages. Available in PDF, EPUB and Kindle. Book excerpt: Mobile robot motion planning in unstructured dynamic environments is a challenging task. Thus, often suboptimal methods are employed which perform global path planning and local obstacle avoidance separately. This work introduces a holistic planning algorithm which is based on the concept of state.

Download or read book Collision Free and Energitaclly Optimized Motion Planning of Manipulators in Partially Known Environment Using Modified D Life Algorithm written by Amir Feizollahi and published by . This book was released on 2016 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robotics is a relatively young field of studies in modern technology and it has tremendously grown during the past fifty years. Manipulators are categorized as a group of robots designed to accomplish the manipulation tasks without direct contact by a human. Generating an optimized algorithm to transform high-level motion tasks to low-level description that are understandable by the robots, including manipulators, has been one of the most interesting problems in this field. Motion planning in robotics, is referred to the process of breaking down a desired movement task into discrete motions in order to satisfy some specific criteria and optimize some certain variables during the motion from the start point to the goal point. Although various types of problems in robot motion planning have been investigated; trajectory planning for the manipulators in partially-known environment with respect to the amount of energy consumption has not been fully addressed. This aspect of motion planning can be of great importance in optimizing the path planner algorithms while satisfying their collision free attribute. This study attempts to develop a comprehensive mathematical model for robot-actuator system dynamics to include the energy consumption level as a variable in the cost function of the path planner algorithm. For this purpose, the manipulator's general equation of motion is derived using the Lagrange equations. Same approach has been taken to develop the equation of motion of the robot's actuators which are considered to be DC motors at each joint of the manipulator. The fourth order of Runge-Kutta algorithm is used to solve the coupled governing differential equations of the system. The output of the modeling phase of the study is fed to the graph search algorithm as an input. Graph search algorithm deals with the start-to-goal node problem in which the best path in a network of nodes is desired. D* Lite algorithm is one the most well-known algorithms in dealing efficiently with the partially-known environment motion planning problems. The advantages of D* Lite algorithm over the other famous algorithms such as A* are investigated, the best path generation procedure is thoroughly discussed, and the implementation of the algorithm is deliberated. A modification on D* Lite algorithm is proposed here to enhance the efficiency of the best path generation method and the alternative procedure is provided correspondingly. A MATLAB framework is designed to define the robot and its workspace and the manipulator equation of motion is developed using MATLAB classes to transform the user input values into the state space variables of the system. Several scenarios have been simulated using the developed framework to verify the path planner effectiveness in avoiding the pre-known and partially-known obstacles while minimizing the amount of consumed energy by the manipulator during its motion from the start node to the goal node.

Download or read book Motion Planning written by Xj Jing and published by BoD – Books on Demand. This book was released on 2008-06-01 with total page 610 pages. Available in PDF, EPUB and Kindle. Book excerpt: In this book, new results or developments from different research backgrounds and application fields are put together to provide a wide and useful viewpoint on these headed research problems mentioned above, focused on the motion planning problem of mobile ro-bots. These results cover a large range of the problems that are frequently encountered in the motion planning of mobile robots both in theoretical methods and practical applications including obstacle avoidance methods, navigation and localization techniques, environmental modelling or map building methods, and vision signal processing etc. Different methods such as potential fields, reactive behaviours, neural-fuzzy based methods, motion control methods and so on are studied. Through this book and its references, the reader will definitely be able to get a thorough overview on the current research results for this specific topic in robotics. The book is intended for the readers who are interested and active in the field of robotics and especially for those who want to study and develop their own methods in motion/path planning or control for an intelligent robotic system.

Download or read book Advances in Swarm Intelligence written by Ying Tan and published by Springer Nature. This book was released on 2023-07-07 with total page 553 pages. Available in PDF, EPUB and Kindle. Book excerpt: This two-volume set LNCS 13968 and 13969 constitutes the proceedings of the 14th International Conference on Advances in Swarm Intelligence, ICSI 2023, which took place in Shenzhen, China, China, in July 2023. The theme of this year’s conference was “Serving Life with Swarm Intelligence”. The 81 full papers presented were carefully reviewed and selected from 170 submissions. The papers are organized into 12 cohesive sections covering major topics of swarm intelligence research and its development and applications. The papers of the second part cover topics such as: Swarm Robotics and UAV; Machine Learning; Data Mining; Routing and Scheduling Problems; Stock Prediction and Portfolio Optimization; ICSI-Optimization Competition.

Download or read book Distributed Computing and Intelligent Technology written by Anisur Rahaman Molla and published by Springer Nature. This book was released on 2023-01-08 with total page 396 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book constitutes the proceedings of the 19th International Conference on Distributed Computing and Intelligent Technology, ICDCIT 2023, which was held in Bhubaneswar, India, in January 2023. The 20 full papers and 9 short papers presented in this volume were carefully reviewed and selected from 55 submissions. The papers are organized in the following topical sections: Invited Talks; Distributed Computing; Intelligent Technology.

Download or read book Hybrid Control Techniques for Static and Dynamic Environments a Step Towards Robot Environment Interaction written by Fabrizio Romanelli and published by . This book was released on 2010 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: In this chapter new hybrid control techniques for the modelling of static and dynamic environments have been analyzed and developed, in order to make the designed controller capable to cope with both static and dynamic features; from the dynamic side of the problem, a framework which models both behavioural and probabilistic characteristics of the world surrounding the robot has been taken into account. A further control paradigm has been presented in order to interact with static environment, developing a solution with which it is possible to define several areas around the robot where its movements are allowed or likewise forbidden. It has also been showed as the presented hybrid control paradigm can be used as the basis for an overall increase of perception and interaction between the robot and its surroundings, distinguished by both environmental structures and human operators. The hybrid control system has been implemented both in simulation and on a real system, providing proofs of its feasibility, robustness and effective increase in robot-environment interaction. Moreover the modularity of the system allows extending its characteristics also taking into account other cognitive features.

Download or read book Real time Motion Planning for a Robot Arm in Dynamic Environments written by Tobias Kunz and published by . This book was released on 2010 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book RoboCup 2003 Robot Soccer World Cup VII written by Daniel Polani and published by Springer Science & Business Media. This book was released on 2004-09-02 with total page 782 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book constitutes the seventh official archival publication devoted to RoboCup. It documents the achievements presented at the 7th Robot World Cup Soccer and Rescue Competition and Conferences held in Padua, Italy, in July 2003. The 39 revised full papers and 35 revised poster papers presented together with an overview and roadmap for the RoboCup initiative and 3 invited papers were carefully reviewed and selected from 125 symposium paper submissions. This book is mandatory reading for the rapidly growing RoboCup community as well as a valuable source of reference and inspiration for R&D professionals interested in robotics, distributed artificial intelligence, and multi-agent systems.