![]() This paper presents a new approach to perform robot trajectories comparison that could be applied to any kind of trajectories and in both simulated and real environments. Although path planning has been extensively investigated since the beginning of robotics, there is no agreement on how to measure the performance of a motion algorithm. The task of planning a collision-free trajectory from a start to a goal position is fundamental for an autonomous mobile robot. Robot Trajectories Comparison: A Statistical ApproachĪnsuategui, A. Simulation results are presented for coordinated trajectory planning of two kinematically redundant manipulators mounted on a free-floating spacecraft and demonstrate the effectiveness of the proposed method. The proposed method is not sensitive to the singularity issue due to the application of forward kinematic equations. Constrained PSO scheme with adaptive inertia weight is implemented to find the optimal solution of joint trajectories while specific objectives and imposed constraints are satisfied. The joint trajectories are parametrized with Bézier curve to simplify the calculation. In order to overcome the dynamics singularities issue, the direct kinematics equations in conjunction with constrained PSO are employed for coordinated trajectory planning of dual-arm space robot. ![]() This paper investigates the application of particle swarm optimization (PSO) strategy to coordinated trajectory planning of the dual-arm space robot in free-floating mode. Wang, Mingming Luo, Jianjun Yuan, Jianping Walter, UlrichĪpplication of the multi-arm space robot will be more effective than single arm especially when the target is tumbling. The tracking performance of the proposed guidance system is analyzed by simulation.Ĭoordinated trajectory planning of dual-arm space robot using constrained particle swarm optimization We show (1) how a smooth trajectory is generated that takes into account the constraints from the dynamic environment and the robot kinematics and (2) how a general predictive controller works to provide optimal tracking capability for nonlinear systems. This paper introduces a unified approach to trajectory planning and tracking for an industrial mobile robot subject to non-holonomic constraints. Trajectory planning and optimal tracking for an industrial mobile robot Simulation results are presented for trajectory planning of 7 degree-of-freedom (DOF) redundant manipulator mounted on a free-floating spacecraft and demonstrate the effectiveness of the proposed method. The joint trajectories are parametrized with the Bézier curve to simplify the calculation. In order to overcome this effect, the direct kinematics equations in conjunction with PSO are employed for trajectory planning of free-floating space robot. Due to the path dependent dynamic singularities, the volume of available workspace of the space robot is limited and enormous joint velocities are required when such singularities are met. This paper investigates the application of Particle Swarm Optimization (PSO) strategy to trajectory planning of the kinematically redundant space robot in free-floating mode. Wang, Mingming Luo, Jianjun Walter, Ulrich Trajectory planning of free-floating space robot using Particle Swarm Optimization (PSO) ![]() To solve the optimal time solution as the goal, the welding process parameters and joint space trajectory joint planning are optimized. By using the virtual joint model combined with the B-spline curve affine invariant, the welding process parameters are indirectly controlled by controlling the motion curve of the real joint. The trajectory planning is carried out in the robot joint space, which makes the control of the welding process parameters more intuitive and convenient. By adding the virtual joint at the end-effector, the appropriate virtual joint model is established and the welding process parameters are represented by the virtual joint variables. In order to improve the welding efficiency and quality, this paper studies the combined planning between welding parameters and space trajectory for welding robot and proposes a trajectory planning method with high real-time performance, strong controllability and small welding error. An Optimized Trajectory Planning for Welding RobotĬhen, Zhilong Wang, Jun Li, Shuting Ren, Jun Wang, Quan Cheng, Qunchao Li, Wentao ![]()
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