Effect of motion parameters on time optimal path of biped robot using PSO algorithm

2014 ◽  
Author(s):  
Nasim Zafari ◽  
Mohammad Hasan Ghesemi
Keyword(s):  
Optimal Path ◽  
Biped Robot ◽  
Pso Algorithm ◽  
Time Optimal ◽  
Motion Parameters

scholarly journals Time-optimal Path Planning of Multi-axis CNC Processes Using Variability of Orientation

Procedia CIRP ◽  
2021 ◽  
Vol 96 ◽  
pp. 324-329
Author(s):  
Frederik Wulle ◽  
Max Richter ◽  
Christoph Hinze ◽  
Alexander Verl
Keyword(s):  
Path Planning ◽  
Optimal Path ◽  
Optimal Path Planning ◽  
Time Optimal

Optimal path planning of a disinfection mobile robot against COVID-19 in a ROS-based research platform

2021 ◽  
Vol 16 (4) ◽  
pp. 405-417
Author(s):  
L. Banjanovic-Mehmedovic ◽  
I. Karabegovic ◽  
J. Jahic ◽  
M. Omercic
Keyword(s):  
Path Planning ◽  
Optimal Path ◽  
Pso Algorithm ◽  
Optimal Path Planning ◽  
Localization And Mapping ◽  
Increasing Demand ◽  
Window Approach ◽  
Path Planner ◽  
Hardware Platforms ◽  
Reactive Collision

Due to COVID-19 pandemic, there is an increasing demand for mobile robots to substitute human in disinfection tasks. New generations of disinfection robots could be developed to navigate in high-risk, high-touch areas. Public spaces, such as airports, schools, malls, hospitals, workplaces and factories could benefit from robotic disinfection in terms of task accuracy, cost, and execution time. The aim of this work is to integrate and analyse the performance of Particle Swarm Optimization (PSO) algorithm, as global path planner, coupled with Dynamic Window Approach (DWA) for reactive collision avoidance using a ROS-based software prototyping tool. This paper introduces our solution – a SLAM (Simultaneous Localization and Mapping) and optimal path planning-based approach for performing autonomous indoor disinfection work. This ROS-based solution could be easily transferred to different hardware platforms to substitute human to conduct disinfection work in different real contaminated environments.

Smooth Time-Optimal Path Tracking for Robot Manipulators With Kinematic Constraints

2020 ◽  
Author(s):  
Kui Hu ◽  
Yunfei Dong ◽  
Dan Wu
Keyword(s):  
Robot Manipulators ◽  
Optimal Path ◽  
Path Tracking ◽  
Control Input ◽  
Kinematic Constraints ◽  
Computation Efficiency ◽  
Planning Approach ◽  
Time Optimal ◽  
Difference Of Convex ◽  
The Difference

Abstract Previous works solve the time-optimal path tracking problems considering piece-wise constant parametrization for the control input, which may lead to the discontinuous control trajectory. In this paper, a practical smooth minimum time trajectory planning approach for robot manipulators is proposed, which considers complete kinematic constraints including velocity, acceleration and jerk limits. The main contribution of this paper is that the control input is represented as the square root of a polynomial function, which reformulates the velocity and acceleration constraints into linear form and transforms the jerk constraints into the difference of convex form so that the time-optimal problem can be solved through sequential convex programming (SCP). The numerical results of a real 7-DoF manipulator show that the proposed approach can obtain very smooth velocity, acceleration and jerk trajectories with high computation efficiency.

scholarly journals Near Time-Optimal Path Tracking Method for Waiter Motion Problem

2017 ◽  
Vol 50 (1) ◽  
pp. 4929-4934 ◽  
Author(s):  
Gábor Csorvási ◽  
Ákos Nagy ◽  
István Vajk
Keyword(s):  
Optimal Path ◽  
Path Tracking ◽  
Tracking Method ◽  
Time Optimal ◽  
Motion Problem ◽  
Path Tracking Method

A numerical approach for time-optimal path-planning of kinematically redundant manipulators

Robotica ◽  
1994 ◽  
Vol 12 (5) ◽  
pp. 401-410 ◽  
Author(s):  
Chia-Ju Wu
Keyword(s):  
Nonlinear Programming ◽  
Path Planning ◽  
Programming Problem ◽  
Optimal Path ◽  
Numerical Approach ◽  
Redundant Manipulators ◽  
Nonlinear Programming Problem ◽  
Optimal Path Planning ◽  
Time Optimal ◽  
Feasible Solutions

SUMMARYIn this paper, a numerical approach is proposed to solve the time-optimal path-planning (TOPP) problem of kinematically redundant manipulators between two end-points. The first step is to transform the TOPP problem into a nonlinear programming problem by an iterative procedure. Then an approach to find the initial feasible solutions of the problem is proposed. Since initial feasible solutions can be found easily, the optimization process of the nonlinear programming problem can be started from different points to find the global minimum. A planar three-link robotic manipulator is used to illustrate the validity of the proposed approach.

scholarly journals Dual-optimization trajectory planning based on parametric curves for a robot manipulator

2020 ◽  
Vol 17 (3) ◽  
pp. 172988142092004
Author(s):  
Yong-Lin Kuo ◽  
Chun-Chen Lin ◽  
Zheng-Ting Lin
Keyword(s):  
Path Planning ◽  
Trajectory Planning ◽  
Robot Manipulator ◽  
Optimal Path ◽  
Inequality Constraints ◽  
Parametric Curves ◽  
Optimal Velocity ◽  
Time Optimal ◽  
Planning Algorithm ◽  
Motion Profile

This article presents a dual-optimization trajectory planning algorithm, which consists of the optimal path planning and the optimal motion profile planning for robot manipulators, where the path planning is based on parametric curves. In path planning, a virtual-knot interpolation is proposed for the paths required to pass through all control points, so the common curves, such as Bézier curves and B-splines, can be incorporated into it. Besides, an optimal B-spline is proposed to generate a smoother and shorter path, and this scheme is especially suitable for closed paths. In motion profile planning, a generalized formulation of time-optimal velocity profiles is proposed, which can be implemented to any types of motion profiles with equality and inequality constraints. Also, a multisegment cubic velocity profile is proposed by solving a multiobjective optimization problem. Furthermore, a case study of a dispensing robot is investigated through the proposed dual-optimization algorithm applied to numerical simulations and experimental work.

Optimal Robot Motion Planning and Work-Cell Layout Design

Robotica ◽  
1997 ◽  
Vol 15 (1) ◽  
pp. 31-40 ◽  
Author(s):  
Zvi Shiller
Keyword(s):  
Motion Planning ◽  
Optimal Path ◽  
Layout Design ◽  
Initial Guess ◽  
Robot Dynamics ◽  
Interactive Software ◽  
Work Cell ◽  
Time Optimal ◽  
Actuator Constraints ◽  
Gripping Force

This paper describes an interactive software system, developed at the Robotics and Automation Laboratory at UCLA to demonstrate innovative approaches to off-line robot programming and work-cell layout design. The software computes the time-optimal motions along specified paths, local optimal paths around an initial guess, and the global optimal path between given end-points. It considers the full robot dynamics, actuator constraints, on the payload acceleration or the gripping force, and any number of polygonal obstacles of any shape. The graphic displays provide a useful tool for interactive motion planning and workcell design.

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