The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
A fundamental problem in robotics consists in trajectory planning. The main task of path planning for robot manipulators is to find an optimal collision-free trajectory from an initial to a final configuration. Furthermore, trajectory planning is devoted to generate the reference inputs for the control system of the manipulator, so as to be able to execute the motion. Many important contributions...
Optimal trajectory planning for robot manipulators is a very important issue in the research field of robotics. Many applications require smooth trajectories and the minimization of a performance index, usually the traveling time or the mechanical energy of the actuators. This paper presents a novel method that uses eighth-degree polynomial functions to generate smooth trajectories for the parametric...
Due to the merit of stabilization and precision, robot is imported in the surgery operations of abdominal cavity, thoracic cavity etc. In order to strengthen the advantage of the minimally invasive surgical robot, the research is focused on the trajectory planning of the 6-DOF manipulator of the robot. The algorithm of the manipulator trajectory planning is proposed, and the curved track of the manipulator...
Visual servo comes up against difficulties when the initial and desired pose of robot is distant. In this paper, a novel approach to solve these difficulties by coupling trajectory planning and image-based control. Some main constraints such as visibility, joint range limits, kinematic singularities, and joint velocity limits are taken into account. The main difference from the existing results is...
A technique for optimal trajectory planning of robot manipulators is presented. It consists of linking two points in the operational space while minimizing a cost function, taking into account dynamic equations of motion as well as bounds on joint velocities, accelerations, jerks and force/torques. We choose the cost function as a weighted balance of traveling time and mechanical energy of the actuators...
The optimal trajectory planning is an important function in a robot control area. Generally, the operating function of manipulators requires the highest performance such as minimum time, minimum energy, and no damage to the system. This paper proposes a minimum time trajectory planning that is clamped with cubic splines and uses Harmony Search (HS) algorithm for solving the optimization problem. Minimum...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.