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This paper deals with the trajectory planning of a full-rotate parallel robot for wafer transfer operations. With the path length in work space of the robot as parameter, the dynamic model is parameterized. The system constraints-input torque and velocity constraints and the task constraints-output velocity, acceleration, and jerk limits are set; with the minimized operation time as the optimization...
Control of underactuated manipulators is an attractive research theme in robotics. One of the reasons is that they become a complex system, so that they cannot be controlled by normal any control methods. These systems also include the properties of nonholonomic systems. One of control methods used for underactuated manipulators is known as a switching control, which selects a stable controller out...
This paper presents a method to generate motion from human motion for a humanoid robot with physical limits. The method focuses on representing constraints for angle, collision, velocity, and dynamic force as B-spline coefficients. The constraints can be applied for offline optimization and online filtering. For optimization, the objective function is responsible for mimicking human trainers, while...
In this paper we consider the problem of motion planning and control of a kinematically redundant manipulator, which is used on forestry machines for logging. Once a desired path is specified in the 3D world frame, a trajectory can be planned and executed such that all joints are synchronized and constrained to the Cartesian path.We introduce an optimization procedure that takes advantage of the kinematic...
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