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Trajectory planning has been a common and important topic in robotics since its generation. As a powerful tool, it can enhance the performance of the robots in manufacturing industry. In this paper, a trajectory planning method based on unit quaternion was proposed. Unit quaternions were used to represent the orientations of the target as there are no more singularities. The trajectory was planning...
Recently, the optimal motion planning problem has attracted a considerable amount of attention, giving rise to new algorithms like RRG, RRT* and PRM*. However, these algorithms have some difficulty in handling the high-dimensional situation like manipulation, which needs a large amount of samples to explore a huge configuration space. In this context, we present a novel incremental sampling-based...
This paper presents a new approach for motion planning of hyper-redundant manipulators to meet real time and high performance of the control system. In this research, the ant colony optimization (ACO) of rotation angle parameters was applied, to ensure the optimal performance in meeting varying the position of the end effector and the obstacles. Furthermore, collision check between the manipulator...
This paper presents a multi-level speed planning based capturing strategy. A kind of widely used simultaneous three-fingered end-effectors is selected to conduct the capturing strategy research. The mechanical characteristics of the end-effector and the grapple process are analyzed first, followed by the dynamic model of the system. The capturing speed is planned with the information from the positional...
How to reduce the vibration deformation of robot manipulators with flexible joint is a significant problem. A new approach based on simplified system dynamic model and genetic algorithms (GA) is developed to find an optimized trajectory in joint space for a three degrees-of-freedom plane flexible joints manipulator, to reduce the residual vibration of the robot on the occasion of fast position control...
The main challenge of motion planning for a hyper-redundant manipulator is to implement a modular structure ensure real time and high performance of the control system. In this research, we present a strategy to deal with the motion planning problem of a hyper-redundant manipulator, include uncertain time delay to the control system and obstacle avoidance. Similarly to the principles of motor control...
Narrow passages in changing environments create huge difficulties, since locations and shapes of narrow passages in Configuration Space(C-space) change frequently. It is very important for a planner to identify narrow passages in real time and boost valid points within them effectively. A novel narrow passage predictive model for designing a path planner in changing environments is proposed in this...
In this paper we propose a strictly conservative and novel hybrid safety control strategy consisting of the pre-contact safety strategy and the post-contact safety strategy in order to provide safety guarantees and enable continuous motions. An optimal motion trajectory planning that limits jerk, acceleration and velocity of robot motion and can obtain a time optimal motion is introduced as post-contact...
This paper developed a teleoperation system of a space robot, which can assist the operator in planning trajectory quickly and intuitively. In addition to the general function, this system can ensure the completion of certain mission when some joint of the space robot is locked for a hardware malfunction. The teleoperation system includes 4 subsystems-Graphics display subsystem, Camera monitor subsystem,...
A key technology of space robots is to maintain the satellite attitude while space service is proceeding. This paper discusses the motion planning and control methods for both robot satellite attitude and robotic end-effector actions in the form of collaboration. A single gimbal control moment gyro (SGCMG) system is adopted to maintain the satellite attitude because of higher output torque than traditional...
The Rapidly-exploring Random Tree (RRT) has been widely used to solve path planning problems and well suited to lots of problem domains for its probabilistically complete. However, it is not so rapid in changing environments, troubled with moving obstacles and difficult regions. In this paper, a variant of RRT is proposed which is called obstacle guided RRT (OG-RRT), aiming to plan a path in changing...
This paper presents a novel method to identify and boost difficult regions of in the configuration space (C-space) in changing environments. Difficult regions, especially narrow passages, change their shapes frequently in changing environments, which result in challenging problems to find valid and safe paths. Although a lot of research has been done to identify difficult regions, seldom methods provide...
Finding paths in difficult regions of C-space, such as narrow passages and configuration obstacle boundaries, is a rather challenging problem for path planning in changing environments. When obstacles move in W-space, these regions in C-space will change their edge points from free to collision or on the contrary, for which a “Capacitor” Bridge Builder (CBB) is proposed in this paper to identify their...
Humanoid robots have abilities of stepping over or onto obstacles, which is different from wheeled robots. However it may be difficult to apply the ordinary motion planning methods such as Rapidly-exploring Random Trees (RRT) to humanoid robots directly. Because these kinds of methods only consider to circumvent obstacles and ignore the constraint of balance. Aiming at dealing with these problems...
The electric vehicle is the main development direction for future new-energy vehicles. And the charging stations' planning and construction are the premise to promote the electric vehicle's use. In the light of the intensive traffic on the urban trunk road and its great charging demand of electric vehicles, this paper constructs a planning model of charging stations on the trunk road. The impact of...
To improve equipment utilization of medium-voltage distribution network, the influencing factors which could affect the best utilization load rate of equipment and the best utilization load rate of equipment are studied. Firstly, the factors that affect the medium voltage line and main transformer from the network structure and load development are studied. Then, according to connection mode of line,...
For the current inefficient use of distribution network equipment and the lack of effective evaluation means, a set of comprehensive evaluation index system is built, which could accurately evaluate utilization level of equipment and find weakness. First, use fish bone diagram to find out influencing factors of distribution network equipment utilization; then build evaluation index system of distribution...
Graph theory is introduced into the contact structure of power supply block which is based on topological connection between substations. According to the basic principles of constructing power block contact models, four typical power block contact models with any number of interconnected substations are constructed. On this basis, the structural characteristic indexes of power block contact models...
This paper presents a novel method for electric vehicle charging station planning based on weighted Voronoi diagram. First, the traffic flow of each intersection node is used to represent the road network traffic. The number of charging stations is estimated in accordance with the capacity of conventional-standard charging station. The initial locations are determined by using coordinate method. Then,...
The paper proposed a method of locating and sizing of charging station for electric vehicle based on grid partition. This method is aimed at minimizing the users' loss on the way to the charging station, zoning the planning area with grid partition method, and choosing the best location of each partition in GA (Genetic Algorithm) on the consideration of traffic density and charging station's capacity...
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