[go: up one dir, main page]

Pajak et al., 2015 - Google Patents

Planning of a point to point collision-free trajectory for mobile manipulators

Pajak et al., 2015

View PDF
Document ID
14896405850333072063
Author
Pajak G
Pajak I
Publication year
Publication venue
2015 10th International Workshop on Robot Motion and Control (RoMoCo)

External Links

Snippet

A method of planning sub-optimal trajectory for a mobile manipulator working in the environment including obstacles is presented. The robot's task is to move the end-effector from a given initial to a final position in the workspace. The motions are planned in order to …
Continue reading at www.researchgate.net (PDF) (other versions)

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/50—Machine tool, machine tool null till machine tool work handling
    • G05B2219/50109—Soft approach, engage, retract, escape, withdraw path for tool to workpiece
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/1607—Calculation of inertia, jacobian matrixes and inverses
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B25J9/1666—Avoiding collision or forbidden zones
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed

Similar Documents

Publication Publication Date Title
CN111538949B (en) Redundant robot inverse kinematics solving method and device and redundant robot
Xu et al. Motion planning of manipulators for simultaneous obstacle avoidance and target tracking: An RNN approach with guaranteed performance
Meziane et al. Human-robot collaboration while sharing production activities in dynamic environment: SPADER system
US8924021B2 (en) Control of robots from human motion descriptors
US11883962B2 (en) Object manipulation with collision avoidance using complementarity constraints
Kim et al. Minimum-time path planning for robot arms and their dynamics
US8428781B2 (en) Systems and methods of coordination control for robot manipulation
US9827675B2 (en) Collision avoidance method, control device, and program
Vahrenkamp et al. Representing the robot’s workspace through constrained manipulability analysis
WO2023069292A1 (en) Nonlinear trajectory optimization for robotic devices
Pajak et al. Point-to-point collision-free trajectory planning for mobile manipulators
Tan et al. Toward unified adaptive teleoperation based on damping ZNN for robot manipulators with unknown kinematics
Li et al. Dynamic visual servoing of a 6-RSS parallel robot based on optical CMM
Chen et al. Robot autonomous grasping and assembly skill learning based on deep reinforcement learning
Abbasnejad et al. Architecture optimization of 4PUS+ 1PS parallel manipulator
CN118219260A (en) A motion control method for a mobile robotic arm in a dynamic scene and its application
CN118596155A (en) A mobile redundant mechanical arm trajectory tracking control method and system
Pajak et al. Planning of a point to point collision-free trajectory for mobile manipulators
Pajak et al. Sub-optimal trajectory planning for mobile manipulators
Raufelder Modeling analysis of attitude perception of engineering manipulator supporting wireless communication and Internet of Things
EP4626650A1 (en) Robot movement and interaction with massive bodies
Dong et al. Global Redundancy Optimization of Manipulability for 7-DOFs Anthropomorphic Manipulator Using Joint Monotonicity
Djuric et al. Graphical representation of the significant 6R KUKA robots spaces
Zhao et al. Collision-free kinematics for redundant manipulators in dynamic scenes using optimal reciprocal velocity obstacles
CN115958595A (en) Robotic arm guiding method, device, computer equipment and storage medium