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This paper considers the problem of designing optimal smoothing spline with constraints on its derivatives. The splines of degree k are constituted by employing normalized uniform B-splines as the basis functions. We then show that the l-th derivative of the spline can be obtained by using B-splines of degree k-l with the control points computed as l-th difference of original control points. This...
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...
Recently various autonomous mobile robots are developed for practical use. For coexistence with the robots and human in the real environment, the consideration of safety is very important. We should consider a region with a limitation of a maximum velocity of a mobile robot for the safety. In this paper, we propose path planning and trajectory generation methods for a mobile robot which moves in the...
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...
This paper discusses the problem of generating patrol paths for a team of mobile robots inside a designated target area. Patrolling requires an area to be visited repeatedly by the robot(s) in order to monitor its current state. First, we present frequency optimization criteria used for evaluation of patrol algorithms. We then present a patrol algorithm that guarantees maximal uniform frequency, i...
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