Download or read book Motion Planning for Mobile Manipulators Using the FSP full Space Parameterization Approach written by and published by . This book was released on 1996 with total page 8 pages. Available in PDF, EPUB and Kindle. Book excerpt: The efficient utilization of the motion capabilities of mobile manipulators, i.e., manipulators mounted on mobile platforms, requires the resolution of the kinematically redundant system formed by the addition of the degrees of freedom (d.o.f.) of the platform to those of the manipulator. At the velocity level, the linearized Jacobian equation for such a redundant system represents an underspecified system of algebraic equations. In addition, constraints such as obstacle avoidance or joint limits may appear at any time during the trajectory of the system. A method, which we named the FSP (Full Space Parameterization), has recently been developed to resolve such underspecified systems with constraints that may vary in time and in number during a single trajectory. In this paper, we review the principles of the FSP and give analytical solutions for the constrained motion case, with a general optimization criterion for resolving the redundancy. We then focus on a solution to the problem introduced by the combined use of prismatic and revolute joints (a common occurrence in practical mobile manipulators) which makes the dimensions of the joint displacement vector components non-homogeneous. Successful applications to the motion planning of several large-payload mobile manipulators with up to 11 d.o.f. are discussed. Sample trajectories involving combined motions of the platform and manipulator under the time-varying occurrence of obstacle and joint limit constraints are presented to illustrate the use and efficiency of the FSP approach in complex motion planning problems.
Download or read book Including a Non holonomic Constraint in the FSP full Space Parameterization Method for Mobile Manipulators Motion Planning written by and published by . This book was released on 1997 with total page 9 pages. Available in PDF, EPUB and Kindle. Book excerpt: The efficient utilization of the motion capabilities of mobile manipulators, i.e. manipulators mounted on mobile platforms, requires the resolution of the kinematically redundant system formed by the addition of the degrees of freedom (d.o.f.) of the platform to those of the manipulator. At the velocity level, the linearized Jacobian equation for such a redundant system represents an underspecified system of algebraic equations, which can be subject to a set of constraints such as obstacles in the workspace and various limits on the joint motions. A method, which we named the FSP (Full Space Parameterization), has recently been developed to resolve such underspecified systems with constraints that may vary in time and in number during a single trajectory. The application of the method to motion planning problems with obstacle and joint limit avoidance was discussed in some of our previous work. In this paper, we present the treatment in the FSP of a non-holonomic constraint on the platform motion, and give corresponding analytical solutions for resolving the redundancy with a general optimization criterion. Comparative trajectories involving a 10 d.o.f. mobile manipulator testbed moving with and without a non-holonomic constraint for the platform motion, are presented to illustrate the use and efficiency of the FSP approach in motion planning problems for highly kinematically redundant and constrained systems.
Download or read book Robot Manipulators written by Agustin Jimenez and published by BoD – Books on Demand. This book was released on 2010-03-01 with total page 680 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents the most recent research advances in robot manipulators. It offers a complete survey to the kinematic and dynamic modelling, simulation, computer vision, software engineering, optimization and design of control algorithms applied for robotic systems. It is devoted for a large scale of applications, such as manufacturing, manipulation, medicine and automation. Several control methods are included such as optimal, adaptive, robust, force, fuzzy and neural network control strategies. The trajectory planning is discussed in details for point-to-point and path motions control. The results in obtained in this book are expected to be of great interest for researchers, engineers, scientists and students, in engineering studies and industrial sectors related to robot modelling, design, control, and application. The book also details theoretical, mathematical and practical requirements for mathematicians and control engineers. It surveys recent techniques in modelling, computer simulation and implementation of advanced and intelligent controllers.
Download or read book El Salvador M xico written by and published by . This book was released on 1968 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Robotics and Manufacturing written by Mohammad Jamshidi and published by American Society of Mechanical Engineers. This book was released on 1996 with total page 910 pages. Available in PDF, EPUB and Kindle. Book excerpt: Proceedings of the May 1996 symposium. Topics include experimental results of operational space control on a dual-arm robot system, design and control of an anthropomorphic servopneumatic finger joint, robot control strategy for camera guidance in laparoscopic surgery, dense reconstruction using fix
Download or read book On Motion Planning Using Numerical Optimal Control written by Kristoffer Bergman and published by Linköping University Electronic Press. This book was released on 2019-05-28 with total page 91 pages. Available in PDF, EPUB and Kindle. Book excerpt: During the last decades, motion planning for autonomous systems has become an important area of research. The high interest is not the least due to the development of systems such as self-driving cars, unmanned aerial vehicles and robotic manipulators. In this thesis, the objective is not only to find feasible solutions to a motion planning problem, but solutions that also optimize some kind of performance measure. From a control perspective, the resulting problem is an instance of an optimal control problem. In this thesis, the focus is to further develop optimal control algorithms such that they be can used to obtain improved solutions to motion planning problems. This is achieved by combining ideas from automatic control, numerical optimization and robotics. First, a systematic approach for computing local solutions to motion planning problems in challenging environments is presented. The solutions are computed by combining homotopy methods and numerical optimal control techniques. The general principle is to define a homotopy that transforms, or preferably relaxes, the original problem to an easily solved problem. The approach is demonstrated in motion planning problems in 2D and 3D environments, where the presented method outperforms both a state-of-the-art numerical optimal control method based on standard initialization strategies and a state-of-the-art optimizing sampling-based planner based on random sampling. Second, a framework for automatically generating motion primitives for lattice-based motion planners is proposed. Given a family of systems, the user only needs to specify which principle types of motions that are relevant for the considered system family. Based on the selected principle motions and a selected system instance, the algorithm not only automatically optimizes the motions connecting pre-defined boundary conditions, but also simultaneously optimizes the terminal state constraints as well. In addition to handling static a priori known system parameters such as platform dimensions, the framework also allows for fast automatic re-optimization of motion primitives if the system parameters change while the system is in use. Furthermore, the proposed framework is extended to also allow for an optimization of discretization parameters, that are are used by the lattice-based motion planner to define a state-space discretization. This enables an optimized selection of these parameters for a specific system instance. Finally, a unified optimization-based path planning approach to efficiently compute locally optimal solutions to advanced path planning problems is presented. The main idea is to combine the strengths of sampling-based path planners and numerical optimal control. The lattice-based path planner is applied to the problem in a first step using a discretized search space, where system dynamics and objective function are chosen to coincide with those used in a second numerical optimal control step. This novel tight combination of a sampling-based path planner and numerical optimal control makes, in a structured way, benefit of the former method’s ability to solve combinatorial parts of the problem and the latter method’s ability to obtain locally optimal solutions not constrained to a discretized search space. The proposed approach is shown in several practically relevant path planning problems to provide improvements in terms of computation time, numerical reliability, and objective function value.
Download or read book Fundamentals in Modeling and Control of Mobile Manipulators written by Zhijun Li and published by CRC Press. This book was released on 2013-06-04 with total page 300 pages. Available in PDF, EPUB and Kindle. Book excerpt: Mobile manipulators combine the advantages of mobile platforms and robotic arms, extending their operational range and functionality to large spaces and remote, demanding, and/or dangerous environments. They also bring complexity and difficulty in dynamic modeling and control system design. However, advances in nonlinear system analysis and control system design offer powerful tools and concepts for the control of mobile manipulator systems. Fundamentals in Modeling and Control of Mobile Manipulators presents a thorough theoretical treatment of several fundamental problems for mobile robotic manipulators. The book integrates fresh concepts and state-of-the-art results to systematically examine kinematics and dynamics, motion generation, feedback control, coordination, and cooperation. From this treatment, the authors form a basic theoretical framework for a mobile robotic manipulator that extends the theory of nonlinear control and applies to more realistic problems. Drawing on their research over the past ten years, the authors propose novel control theory concepts and techniques to tackle key problems. Topics covered include kinematic and dynamic modeling, control of nonholonomic systems, path planning that considers motion and manipulation, hybrid motion/force control and hybrid position/force control where the mobile manipulator is required to interact with environments, and coordination and cooperation strategies for multiple mobile manipulators. The book also includes practical examples of applications in engineering systems. This timely book investigates important scientific and engineering issues for researchers and engineers working with either single or multiple mobile manipulators for larger operational space, better cooperation, and improved productivity.
Download or read book Mechanical Design of an Autonomous Redundant Mobile Manipulator written by David Timothy Eveland and published by . This book was released on 1999 with total page 388 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Control of Mobile Manipulators written by Jindong Tan and published by . This book was released on 2002 with total page 308 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Motion Planning with Localization and Mapping Uncertainties for a Mobile Manipulator in Exploration and Inspection Tasks written by Yifeng Huang and published by . This book was released on 2009 with total page 250 pages. Available in PDF, EPUB and Kindle. Book excerpt: We address the motion planning (MP) problem in real world robotic exploration and inspection tasks, where robot localization and mapping uncertainties have to be incorporated into the planned motions. The robot considered in this work is a mobile manipulator system, which combines the mobility of the base with the dexterousness of the manipulator. The first part of this work considers localization and mapping uncertainties in the motion planning problem. We propose RRT-SLAM, which uses a rapidly exploring random tree (RRT) in conjunction with a simulated particle based simultaneous localization and mapping (SLAM) algorithm to expand the tree. The simulated SLAM explicitly accounts for localization and mapping uncertainties in the planning stage. Moreover, the RRT itself is represented in the uncertainty-configuration space (UC-space), which is an augmented configuration space with an extra dimension of uncertainty. The collision probability along a planned path is explicitly calculated and is used to select a planned path. We further address the efficiency of the RRT-SLAM in the UC-space. We treat the issue from a data clustering point of view and propose a fractal dimension (FD) based checking criterion for efficient node generation,and demonstrate the positive results in simulations. The second part of this research addresses planning motions for the manipulator with the base staying stationary. Therefore, no sensor observation is available during the motion. We extend the probabilistic roadmap (PRM) algorithm to plan motions. Since the base pose of the manipulator is not precisely known due to the localization uncertainty, the path query of the roadmap becomes a constrained shortest path problem. We prove that this path query is an NP-hard problem, and propose an lazy path query algorithm that judiciously combines a k-shortest path algorithm with a labeling algorithm to achieve efficiency. The RRT-SLAM is tested on an actual PowerBot and the experimental results show the effectiveness and benefits of our integrated approach. We also implemented and tested our integrated planner for the mobile manipulator in simulations. The effectiveness of the combined integrated planner is demonstrated via these simulations.
Download or read book International Journal of Applied Mathematics and Computer Science written by and published by . This book was released on 2006 with total page 592 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Combining Task and Motion Planning for Mobile Manipulators written by Aliakbar Akbari and published by . This book was released on 2020 with total page 159 pages. Available in PDF, EPUB and Kindle. Book excerpt: This thesis addresses the combination of task and motion planning which deals with different types of robotic manipulation problems. Manipulation problems are referred to as mobile manipulation, collaborative multiple mobile robots tasks, and even higher dimensional tasks (like bi-manual robots or mobile manipulators). Task and motion planning problems needs to obtain a geometrically feasible manipulation plan through symbolic and geometric search space. The combination of task and motion planning levels has emerged as a challenging issue as the failure leads robots to dead-end tasks due to geometric constraints. In addition, task planning is combined with physics-based motion planning and information to cope with manipulation tasks in which interactions between robots and objects are required, or also a low-cost feasible plan in terms of power is looked for. Moreover, combining task and motion planning frameworks is enriched by introducing manipulation knowledge. It facilitates the planning process and aids to provide the way of executing symbolic actions. Combining task and motion planning can be considered under uncertain information and with human-interaction. Uncertainty can be viewed in the initial state of the robot world or the result of symbolic actions. To deal with such issues, contingent-based task and motion planning is proposed using a perception system and human knowledge. Also, robots can ask human for those tasks which are difficult or infeasible for the purpose of collaboration.An implementation framework to combine different types of task and motion planning is presented. All the required modules and tools are also illustrated. As some task planning algorithms are implemented in Prolog or C++ languages and our geometric reasoner is developed in C++, the flow of information between different languages is explained.
Download or read book Applied Science Technology Index written by and published by . This book was released on 1997 with total page 2948 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Safe Motion Planning Under Uncertainty for Mobile Manipulators in Unknown Environments written by Vinay Kumar Pilania and published by . This book was released on 2015 with total page 121 pages. Available in PDF, EPUB and Kindle. Book excerpt: For a mobile manipulator to operate and perform useful tasks in human-centered environments, it is important to work toward the realization of robust motion planners that incorporate uncertainty inherent in robot's control and sensing and provide safe motion plans for reliable robot operation. Designing such planners pose a significant challenge because of computational complexity associated with mobile manipulator planning and planning under uncertainty. Current planning approaches for mobile manipulation are often conservative in nature and the uncertainty is largely ignored. In this thesis, we propose sampling-based efficient and robust mobile manipulator planners that use smart strategies to deal with computational complexity and incorporate uncertainty to generate safer plans. The first part of the research addresses the design of an efficient planner for deterministic case, where robot state is fully known, and then subsequent extension to incorporate base pose uncertainty. In the first part, we propose a Hierarchical and Adaptive Mobile Manipulator Planner (HAMP) that plans both for the base and the arm in a judicious manner - allowing the manipulator to change its configuration autonomously when needed if the current arm configuration is in collision with the environment as the mobile manipulator moves along the planned path. We show that HAMP is probabilistically complete. We then propose an extension of HAMP (HAMP-U) to account for localization uncertainty associated with the mobile base position. The advantages of our planners are illustrated and discussed. The second part of the research deals with the computational complexity involved in planning under uncertainty. For that, we propose localization aware sampling and connection strategies that help to reduce the planning time significantly with little compromise on the quality of path. In the third part, we learnt from the shortcomings of HAMP-U and took advantage of our smart strategies developed to combat the computational complexity. We propose an efficient and robust mobile manipulator planner (HAMP-BAU) that plans judiciously and considers the base pose uncertainty and the effects of this uncertainty on manipulator motions. It uses our localization aware sampling and connection strategies to consider only those nodes and edges which contribute toward better localization. This helps to find the same quality of path in shorter time. We also extend HAMP-BAU to incorporate task space constraints (HAMP-BAU-TC). Finally, in the last part of the work, we incorporate our planners (HAMP-BAU and HAMP-BAU-TC) within an integrated and fully autonomous system for mobile pick-and-place tasks in unknown static environments. We demonstrate our system both in simulation and real experiments on SFU mobile manipulator.
Download or read book Using Cartesian Space for Manipulator Motion Planning written by Darko Ojdanić and published by . This book was released on 2009 with total page 118 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Government Reports Announcements Index written by and published by . This book was released on 1996 with total page 960 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Trajectory Planning for Space Manipulators written by Mary M. Zurowski and published by . This book was released on 1993 with total page 67 pages. Available in PDF, EPUB and Kindle. Book excerpt: The angular momentum of a free-flying multibody system in space is a conserved quantity. This conservation law acts as a nonholonomic constraint and manifests itself when cyclic motion of the articulated joints of an on board manipulator produces a net change in the orientation of the whole system. This poses two important and coupled problems: (a) the motion planning problem of the manipulator for attitude reorientation of the space structure using internal motion of the joints, and (b) planning the manipulator joint trajectories that produce repeatable motion of all the configuration variables. We have adopted a surface integral approach to come up with algorithms for these nonholonomic motion planning problems. Satellite attitude control, Non-holonomic motion planning, Linked multi-bodied space structures.
