Commenced in January 2007
Frequency: Monthly
Edition: International
Paper Count: 6

Trajectory Planning Related Publications

6 Optimal Trajectories for Highly Automated Driving

Authors: Christian Rathgeber, Franz Winkler, Xiaoyu Kang, Steffen Müller

Abstract:

In this contribution two approaches for calculating optimal trajectories for highly automated vehicles are presented and compared. The first one is based on a non-linear vehicle model, used for evaluation. The second one is based on a simplified model and can be implemented on a current ECU. In usual driving situations both approaches show very similar results.

Keywords: Trajectory Planning, direct method, indirect method, highly automated driving

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5 Visual Inspection of Work Piece with a Complex Shape by Means of Robot Manipulator

Authors: A. Y. Bani Hashim, N. S. A. Ramdan

Abstract:

Inconsistency in manual inspection is real because humans get tired after some time. Recent trends show that automatic inspection is more appealing for mass production inspections. In such as a case, a robot manipulator seems the best candidate to run a dynamic visual inspection. The purpose of this work is to estimate the optimum workspace where a robot manipulator would perform a visual inspection process onto a work piece where a camera is attached to the end effector. The pseudo codes for the planned path are derived from the number of tool transit points, the delay time at the transit points, the process cycle time, and the configuration space that the distance between the tool and the work piece. It is observed that express start and swift end are acceptable in a robot program because applicable works usually in existence during these moments. However, during the mid-range cycle, there are always practical tasks programmed to be executed. For that reason, it is acceptable to program the robot such as that speedy alteration of actuator displacement is avoided. A dynamic visual inspection system using a robot manipulator seems practical for a work piece with a complex shape.

Keywords: Trajectory Planning, robot manipulator, Visual inspection, Work piece

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4 Fuzzy-Genetic Optimal Control for Four Degreeof Freedom Robotic Arm Movement

Authors: V. K. Banga, R. Kumar, Y. Singh

Abstract:

In this paper, we present optimal control for movement and trajectory planning for four degrees-of-freedom robot using Fuzzy Logic (FL) and Genetic Algorithms (GAs). We have evaluated using Fuzzy Logic (FL) and Genetic Algorithms (GAs) for four degree-of-freedom (4 DOF) robotics arm, Uncertainties like; Movement, Friction and Settling Time in robotic arm movement have been compensated using Fuzzy logic and Genetic Algorithms. The development of a fuzzy genetic optimization algorithm is presented and discussed. The result are compared only GA and Fuzzy GA. This paper describes genetic algorithms, which is designed to optimize robot movement and trajectory. Though the model represents is a general model for redundant structures and could represent any n-link structures. The result is a complete trajectory planning with Fuzzy logic and Genetic algorithms demonstrating the flexibility of this technique of artificial intelligence.

Keywords: Inverse Kinematics, Trajectory Planning, Fuzzy Logic (FL), Genetic algorithms (GAs)

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3 Design and Trajectory Planning of Bipedal Walking Robot with Minimum Sufficient Actuation System

Authors: H. Siswoyo Jo, N. Mir-Nasiri, E. Jayamani

Abstract:

This paper presents a new type of mechanism and trajectory planning strategy for bipedal walking robot. The newly designed mechanism is able to improve the performance of bipedal walking robot in terms of energy efficiency and weight reduction by utilizing minimum number of actuators. The usage of parallelogram mechanism eliminates the needs of having an extra actuator at the knee joint. This mechanism works together with the joint space trajectory planning in order to realize straight legged walking which cannot be achieved by conventional inverse kinematics trajectory planning due to the singularity. The effectiveness of the proposed strategy is confirmed by computer simulation results.

Keywords: Energy Efficiency, Trajectory Planning, Bipedal robot, Straight legged walking

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2 A 7DOF Manipulator Control in an Unknown Environment based on an Exact Algorithm

Authors: Pavel K. Lopatin, Artyom S. Yegorov

Abstract:

An exact algorithm for a n-link manipulator movement amidst arbitrary unknown static obstacles is presented. The algorithm guarantees the reaching of a target configuration of the manipulator in a finite number of steps. The algorithm is reduced to a finite number of calls of a subroutine for planning a trajectory in the presence of known forbidden states. The polynomial approximation algorithm which is used as the subroutine is presented. The results of the exact algorithm implementation for the control of a seven link (7 degrees of freedom, 7DOF) manipulator are given.

Keywords: Trajectory Planning, manipulator, unknown obstacles

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1 Using the Polynomial Approximation Algorithm in the Algorithm 2 for Manipulator's Control in an Unknown Environment

Authors: Pavel K. Lopatin, Artyom S. Yegorov

Abstract:

The Algorithm 2 for a n-link manipulator movement amidst arbitrary unknown static obstacles for a case when a sensor system supplies information about local neighborhoods of different points in the configuration space is presented. The Algorithm 2 guarantees the reaching of a target position in a finite number of steps. The Algorithm 2 is reduced to a finite number of calls of a subroutine for planning a trajectory in the presence of known forbidden states. The polynomial approximation algorithm which is used as the subroutine is presented. The results of the Algorithm2 implementation are given.

Keywords: Trajectory Planning, manipulator, unknown obstacles

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