An optimization-based approach for elasticity-aware trajectory planning of link-elastic manipulators

Krämer, Maximilian; Muster, Freia I.; Rösmann, Christoph; Bertram, Torsten

doi:10.1016/j.mechatronics.2021.102523

Cited by 7 publications

(2 citation statements)

References 20 publications

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“…To demonstrate the efficiency and viability of the suggested controller, an exhaustive simulation study has been validated with a hardware setup, involving a two-link-based direct-drive planar robot. To deliver elasticity-aware motions for linkelastic manipulators, Krämer et al [103] presented an online, optimization-based motion planning approach with three distinct objective functions. On an actual manipulator with three actuated DOF and two elastic connections in various disturbance conditions, the approach's efficacy was proved.…”

Section: B Dual-linkmentioning

confidence: 99%

In-Depth Review of Advanced Control Strategies and Cutting-Edge Trends in Robot Manipulators: Analyzing the Latest Developments and Techniques

Abdelmaksoud,

Al-Mola,

Abro

et al. 2024

IEEE Access

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It is undeniable that the development of robot manipulators has gained significant attention due to its numerous applications in various sectors. In order to address and resolve several issues for robotic manipulators, this paper provides a review of recent control approaches that have been conducted. In the beginning, a succinct comprehensive introduction of the pertinent terminology, configurations, components, advantages/disadvantages, and applications is given. A state-of-the-art review of the various control strategies for robotic manipulator systems is then presented, along with potential solutions when the systems are faced with various obstacles and impediments. An analytical study is discussed showing percentages of the papers discussed in this study in terms of the different control strategies, link types, models, applications, and degrees of freedom of robotic manipulators. For academic, research, medical, and industrial uses, some off-the-shelf developments in robotic manipulators are also presented.

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Section: B Dual-linkmentioning

confidence: 99%

In-Depth Review of Advanced Control Strategies and Cutting-Edge Trends in Robot Manipulators: Analyzing the Latest Developments and Techniques

Abdelmaksoud,

Al-Mola,

Abro

et al. 2024

IEEE Access

View full text Add to dashboard Cite

show abstract

“…Trajectory optimization enables an intuitive way to apply motion specifications to trajectory planning for robotic manipulators. It allows both, the consideration of constraints such as joint limits or collision avoidance, and the optimization of criteria that range from high-level tasks [1] over secondary objectives [2] down to the motion itself [3]. Consequently, it has long been established as a general planning method.…”

Section: Introductionmentioning

confidence: 99%

Improving Local Trajectory Optimization by Enhanced Initialization and Global Guidance

Krämer

Bertram

2022

IEEE Access

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Trajectory optimization is a promising method for planning trajectories of robotic manipulators. With the increasing success of collaborative robots in dynamic environments, the demand for online planning methods grows and offers new opportunities as well as challenges for trajectory optimization. Special requirements in terms of real-time capabilities are one of the greatest difficulties. Optimizing a short planning horizon instead of an entire trajectory is one approach to reduce computation time, which nonetheless separates the optimality of local and global solutions. This contribution introduces, on the one hand, Extended Initialization as a new approach that reduces the risk of local minima and aims at improving the quality of the global trajectory. On the other hand, the particularly critical cases in which local solutions lead to standstills are mitigated by globally guiding local solutions. The evaluation performs four experiments with comparisons to established methods like STOMP or PRM* and demonstrates the effectiveness of both approaches.

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Obstacle Avoidance Trajectory Planning Method for Space Manipulator Based on Genetic Algorithm

Huang¹

2022

Application of Intelligent Systems in Multi-Modal Information Analytics

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An optimization-based approach for elasticity-aware trajectory planning of link-elastic manipulators

Cited by 7 publications

References 20 publications

In-Depth Review of Advanced Control Strategies and Cutting-Edge Trends in Robot Manipulators: Analyzing the Latest Developments and Techniques

In-Depth Review of Advanced Control Strategies and Cutting-Edge Trends in Robot Manipulators: Analyzing the Latest Developments and Techniques

Improving Local Trajectory Optimization by Enhanced Initialization and Global Guidance

Obstacle Avoidance Trajectory Planning Method for Space Manipulator Based on Genetic Algorithm

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