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Optimal trajectory planning for industrial robots
Advances in Engineering Software, 2010zbMATH Open Web Interface contents unavailable due to conflicting licenses.
A Gasparetto
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Trajectory planning for an articulated probe [PDF]
Computational Geometry, 2020 zbMATH Open Web Interface contents unavailable due to conflicting licenses.
Ka Yaw Teo, Ovidiu Daescu, Kyle Fox
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Trajectory Planning in Robotics
Mathematics in Computer Science, 2012Trajectory planning is a fundamental issue for robotic applications and automation in general. The ability to generate trajectories with given features is a key point to ensure significant results in terms of quality and ease of performing the required motion, especially at the high operating speeds necessary in many applications.
GASPARETTO, Alessandro +3 more
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Trajectory planning of tracked vehicles
[1993] Proceedings IEEE International Conference on Robotics and Automation, 2002The motions of planar tracked vehicles are governed by three force and moment equations. The force equation perpendicular to the tracks represents a dynamic nonholonomic constraint which is explicitly dependent on vehicle speed. It couples path planning with trajectory planning.
Zvi Shiller, William Serate, Minh Hua
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Trajectory planning of multiple manipulators
Proceedings of the Fourth International Workshop on Robot Motion and Control (IEEE Cat. No.04EX891), 2004In the paper, a global method of redundancy resolution has been proposed to solve the task of trajectories planning for multiple manipulators operating in a common workspace. The task of manipulators is to follow, via end-effectors, the geometric paths given in a task space. A final time of the task performance is not fixed. The control constraints and
Grzegorz Pajak +2 more
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Trajectory Planning for Quadrotor Swarms
IEEE Transactions on Robotics, 2018We describe a method for multirobot trajectory planning in known, obstacle-rich environments. We demonstrate our approach on a quadrotor swarm navigating in a warehouse setting. Our method consists of following three stages: 1) roadmap generation that generates sparse roadmaps annotated with possible interrobot collisions; 2) discrete planning that ...
Wolfgang Hönig +4 more
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Trajectory planning for flexible manipulators
Proceedings., IEEE International Conference on Robotics and Automation, 2002A trajectory planner for a one-flexible-link manipulator is presented. The approach is based on the solution to the inverse dynamic problem for flexible manipulators in the frequency domain. The problem is mathematically formulated as an optimization of the settling time subject to maximum torque and high frequency content constraints.
Miguel Angel Serna, Eduardo Bayo
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Trajectory Planning of Tracked Vehicles
Journal of Dynamic Systems, Measurement, and Control, 1995This paper presents a method for computing the track forces and track speeds of planar tracked vehicles, required to follow a given path at specified speeds on horizontal and inclined planes. It is shown that the motions of a planar tracked vehicle are constrained by a velocity dependent nonholonomic constraint, derived from the force equation ...
Shiller, Zvi, Serate, William
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A concept for manipulator trajectory planning
Proceedings. 1986 IEEE International Conference on Robotics and Automation, 1986Following a prescribed trajectory with a manipulator tip in an ideal manner results in a one DOF overall motion whatever the configuration of the manipulator and of the path might be. Thus, a transformation of the equations of motion from joint coordinates to path coordinates leads to a set, which cannot only be solved by formal quadrature but defines ...
Friedrich Pfeiffer, Rainer Johanni
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