Download or read book Multiobjective Optimal Path Planning for Robot Manipulators with Joint Clearance written by 賴明證 and published by . This book was released on 2014 with total page 65 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Optimal Path Planning for Multi arm Multi link Robotic Manipulators written by Joseph A. Cascio and published by . This book was released on 2008 with total page 103 pages. Available in PDF, EPUB and Kindle. Book excerpt: This work investigates the problem of robotic arm control with the goal of achieving given performance requirements by solving for the optimal joint trajectories and corresponding controls for tasks, such as point-to-point positioning. The resulting optimal control problem is highly nonlinear and constrained due to the nonlinearities in the robotic arm dynamics and kinodynamic constraints including limits on joint velocities and actuator torques. This thesis illustrates the applicability of pseudospectral methods to solve the optimal path planning problem for a system of multi-link, multi-degree of freedom robotic arms. The optimal control problem is defined in standard form and solved using the software package DIDO. Pontryagin's Minimum Principle is used to verify that the proposed solution satisfies the necessary conditions for optimality. A particularly challenging aspect that is explored is the optimal motion of multiple arms conducting independent tasks with the risk of collision. Collision avoidance can be achieved by modeling appropriate path constraints. The processes for optimal trajectory planning are developed for a single two degree-of-freedom manipulator conducting point-to-point positioning and extended to include dual three degree-of-freedom manipulator maneuvers employing collision avoidance. The results demonstrate the suitability of pseudospectral techniques to solving the minimum time and minimum control maneuvers for robotic arms. The employment of collision avoidance techniques will facilitate continued research in autonomous robotic motion planning using optimal control criteria in multiple arm systems.

Download or read book Spatially Optimal Path Planning for Robotic Manipulators with Obstacle Avoidance and Joint Motion Constraints written by Margaret Ann Norris and published by . This book was released on 1985 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Optimal Trajectory Planning of Robotic Manipulators written by Sunil Kumar Singh and published by . This book was released on 1985 with total page 216 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Optimal Trajectory Planning for Robotic Manipulators written by Inna Ben-Zvi and published by . This book was released on 1988 with total page 78 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Optimal Path Planning for Satellite Mounted Robot Manipulators written by Volker H. Schulz and published by . This book was released on 1993 with total page 19 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Optimal Path Planning for Robotic Manipulators written by Michael Robert Madden and published by . This book was released on 1986 with total page 254 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book An Optimum Trajectory Planner for Robot Manipulators in Joint space and Under Physical Constraints written by Ali M. S. Zalzala and published by . This book was released on 1988 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Optimal Path Planning Using Robot Arm Dynamics in Joint Space written by In Sik Yun and published by . This book was released on 1989 with total page 152 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Time Optimal Path Planning for Robotic Manipulators in the Presence of Obstacles with Actuator Gripper and Payload Constraints written by Z. Shiller and published by . This book was released on 1987 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Fundamentals of Manipulator Calibration written by Benjamin W. Mooring and published by Wiley-Interscience. This book was released on 1991-03-19 with total page 360 pages. Available in PDF, EPUB and Kindle. Book excerpt: Describes the details of the calibration process step-by-step, covering systems modeling, measurement, identification, correction and performance evaluation. Calibration techniques are presented with an explanation of how they interact with each other as they are modified. Shows the reader how to determine if, in fact, a robot problem is a calibration problem and then how to analyze it.

Download or read book Trajectory Planning for Hyper Redundant Manipulators in Constrained Workspaces written by Mahdi Fallahinejad Ghajari and published by . This book was released on 2015 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Multi Criteria Optimal Path Planning of Flexible Robots written by Rogério Rodrigues dos and published by . This book was released on 2012 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Multi-Criteria Optimal Path Planning of Flexible Robots.

Download or read book Spatially Optimal Path Planning for Robotic Manipiulators with Obstacle Avoidance and Joint Motion Constraints written by Margaret Ann Norris and published by . This book was released on 1985 with total page 130 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Robotic Systems Concepts Methodologies Tools and Applications written by Management Association, Information Resources and published by IGI Global. This book was released on 2020-01-03 with total page 2075 pages. Available in PDF, EPUB and Kindle. Book excerpt: Through expanded intelligence, the use of robotics has fundamentally transformed a variety of fields, including manufacturing, aerospace, medicine, social services, and agriculture. Continued research on robotic design is critical to solving various dynamic obstacles individuals, enterprises, and humanity at large face on a daily basis. Robotic Systems: Concepts, Methodologies, Tools, and Applications is a vital reference source that delves into the current issues, methodologies, and trends relating to advanced robotic technology in the modern world. Highlighting a range of topics such as mechatronics, cybernetics, and human-computer interaction, this multi-volume book is ideally designed for robotics engineers, mechanical engineers, robotics technicians, operators, software engineers, designers, programmers, industry professionals, researchers, students, academicians, and computer practitioners seeking current research on developing innovative ideas for intelligent and autonomous robotics systems.

Download or read book Multi objective Mapping and Path Planning Using Visual SLAM and Object Detection written by Ami Woo and published by . This book was released on 2019 with total page 93 pages. Available in PDF, EPUB and Kindle. Book excerpt: Path planning of the autonomous robots is one of the crucial tasks that need to be achieved for mobile robots to navigate through the environment intelligently. The robot paths are typically planned utilizing map that is accessible at the time with a certain optimization objective such as to minimizing the travel distance, or time. This thesis proposes a multi-objective path planning approach by integrating Simultaneous Localization And Mapping (SLAM) with a graph based optimization approach and an object detection algorithm. The proposed approach aims not only to nd a path that minimizes travel distance but also to minimize the number of obstacles in the path to be followed. This thesis uses Visual SLAM (VSLAM) as the basis to generate graphs for global path planning. VSLAM generates a trajectory network which is usually in the form of a spare graph (if odometry based) or probabilistic relations on landmark estimates relative to the robot. An object detection algorithm is run in parallel to provide additional information on trajectory network graphs generated by the VSLAM, to be used in multi-objective path planning. The VSLAM, object detection, and path planning elds are typically studied independently, but this thesis links the these elds to solve the multi-objective path planning problem. The rst part of the thesis presents the connections and methodology on using the VSLAM and object detection to generate trajectory network graphs. The nodes are inserted to the graph when a new keyframe is needed in VSLAM. The distance travelled between the nodes is the rst criterion to minimize and is computed while traversing. In parallel to VSLAM, the object detection component quanti es the number of objects detected between the nodes. Only the pre-trained objects to detect are quanti ed and the trained objects in the thesis are cars and trucks. The number of objects are the two additional edge information added to the graph. Later in the thesis, the multi-objective path planning on the generated graphs is presented. The objective of path planning on graph is not just on minimizing the distance to travel but also on minimizing the number of cars and trucks it passes. The proposed design is tested using KITTI dataset which is specialized for autonomous driving and consists of many cars and trucks. The design is not limited to autonomous driving applications, but can be applied to other elds such as surveillance, rescuing, and many more with di erent objects to detect.

Download or read book Mobile Robots Navigation written by Luis Payá and published by MDPI. This book was released on 2020-11-13 with total page 298 pages. Available in PDF, EPUB and Kindle. Book excerpt: The presence of mobile robots in diverse scenarios is considerably increasing to perform a variety of tasks. Among them, many developments have occurred in the fields of ground, underwater, and flying robotics. Independent of the environment where they move, navigation is a fundamental ability of mobile robots so that they can autonomously complete high-level tasks. This problem can be efficiently addressed through the following actions: First, it is necessary to perceive the environment in which the robot has to move, and extract some relevant information (mapping problem). Second, the robot must be able to estimate its position and orientation within this environment (localization problem). With this information, a trajectory toward the target points must be planned (path planning), and the vehicle must be reactively guided along this trajectory considering either possible changes or interactions with the environment or with the user (control). Given this information, this book introduces current frameworks in these fields (mapping, localization, path planning, and control) and, in general, approaches to any problem related to the navigation of mobile robots, such as odometry, exploration, obstacle avoidance, and simulation.