Control Framework for Trajectory Planning of Soft Manipulator Using Optimized RRT Algorithm

Khan, Ameer Tamoor; Li, Shuai; Kadry, Seifedine; Nam, Yunyoung

doi:10.1109/access.2020.3024630

Cited by 38 publications

(14 citation statements)

References 52 publications

(42 reference statements)

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“…There are 5-links, so five independent equations are required to construct (3). There are different approaches to solve it, we will write the equations of angular moment balance of robot about each joint.…”

Section: A Dynamics Of 5-link Biped Robotmentioning

confidence: 99%

“…I N recent years, biped robots have gained immense popularity in the research community due to their highly non-linear and unstable nature. Researchers have explored biped robots in various ways, i.e., biological nature and its model formulation [1], [2], path-planing, and the control of the robot [3], [4]. Chevallereau et al, [5] has studied optimal path planning of biped robot.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Trajectory Optimization of 5-Link Biped Robot Using Beetle Antennae Search

Khan

Zhou

2021

IEEE Trans. Circuits Syst. II

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In this paper, we presented a framework for the trajectory optimization of the 5-link Biped Robot using the Beetle Antennae Search (BAS) algorithm. The biped robot is highly nonlinear and has complex dynamical modeling. It is challenging to obtain a closed-form solution for the Robot. The robot modeling has two stages, i.e., the optimal trajectory generation and the robust control of a robot. The conventional methodologies treat both problems separately and are computationally expensive. This paper presented an optimization problem that combines the trajectory generation and control problem of a 5-link biped robot. We employed Beetle Antennae Search (BAS) for the problem's online-solution, an intelligent online optimization approach. BAS is a single-particle searching algorithm, which makes it robust, computationally, and memory-wise efficient. We applied BAS on two non-linear systems, i.e., inverted pendulum and 5-link biped robot, and convincing results are obtained with BAS.

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Section: A Dynamics Of 5-link Biped Robotmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Trajectory Optimization of 5-Link Biped Robot Using Beetle Antennae Search

Khan

Zhou

2021

IEEE Trans. Circuits Syst. II

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“…The approaches for calculating the similarity of two trajectories can be divided into the following two categories, point based distance and shape based distance [62][63][64].…”

Section: Trajectory Similarity Matchingmentioning

confidence: 99%

Identification of Influential Nodes for Drone Swarm Based on Graph Neural Networks

Wang

Zhuang

Xie

2021

Neural Process Lett

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Accurately tracking the influential nodes in swarm is the key to improve the control or defense against the drone combat. But the identification of influential nodes is intractable due to hardly capturing the pattern information of the running drones based on the traditional Graph Theory. To tackle this issue, in this paper, we propose a novel framework to identify the influential nodes, which includes Latent Interaction Graph Extraction (LIGE), Degree Centrality based Influential Inference (DCII) and Formation Stability Coefficient based Re-ranking (FSCR). LIGE is employed to reconstruct the latent interaction graph from the dynamic trajectory data by exploiting the encoder in Neural Relational Inference. DCII invokes the traditional graph model and measures the significance of nodes. In the re-ranking module FSCR, we introduce a novel metric, the formation stability coefficient, to measure swarm formation stability and re-ranking the candidates. The experimental results on the Drone swarm datasets demonstrate that our framework can effectively identify the influential nodes of drone swarm. The extracting time in LIGE is relatively long, which makes it difficult to recognize the core node within the limit time. By optimizing the encoder structure, the extraction time can be reduced to at least twice the original.

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“…Zhang [15] Han [16] and Wang [17] presented a new trajectory planning methodology for manipulators respectively. Serrantola [18] and Khan [19] proposed a new algorithm to plan the manipulator's trajectory, respectively. Qiu [20] proposed a non-contact vibration measurement method based on structural light sensor.…”

Section: Introductionmentioning

confidence: 99%

Vibration characteristics of flexible manipulator based on EVO trajectory effect by the constraints and parameters variation

Zhang¹,

Sun²,

Fu³

et al. 2022

J. vibroeng.

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This paper studies the vibration control effect for manipulators with both flexible link and flexible joint according to the energy-vibration-optimal (EVO) trajectory planning method effect by the constraint conditions and structure parameters. First, a dynamic model of the flexible joint-flexible link arm is established following the assumed modal method and Lagrange principle. The optimization model is then proposed and discretized using the Particle Swarm Optimization (PSO) trajectory planning method and the trajectory optimization of discrete result algorithm, taking into account both residual oscillation and energy consumption. Following that, the numerical trajectory optimization results and their vibration suppression effect analysis by different constraint conditions, such as driving constraints, time constraints, and joint stiffness, are compared and discussed. The results show that the optimization velocity trajectory tends to a S-shaped trajectory and a convex trajectory respectively with the increase of driving velocity constraint and acceleration constraint respectively, while the sufficient planning time can make the less energy consumption. The parameter variations of length, cross-sectional area and next link lumped mass of have a significant impact on the residual oscillation of the flexible arm, with length having the most influence, whereas joint stiffness has little influence on the residual oscillation of the flexible link. The processing accuracy of length, cross-sectional area and end quality parameters must be ensured, while joint stiffness accuracy requirements can be slightly relaxed during the actual processing. Finally, experiments show that the optimization method is effective at vibration suppression. While the small variations of the end mass have significant influence on the vibration suppression effect, the residual vibrations of the parameter variation ones are all larger than the original parameter one. Meanwhile, as the mass of the manipulator increases, so does its energy consumption.

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Control Framework for Trajectory Planning of Soft Manipulator Using Optimized RRT Algorithm

Cited by 38 publications

References 52 publications

Trajectory Optimization of 5-Link Biped Robot Using Beetle Antennae Search

Trajectory Optimization of 5-Link Biped Robot Using Beetle Antennae Search

Identification of Influential Nodes for Drone Swarm Based on Graph Neural Networks

Vibration characteristics of flexible manipulator based on EVO trajectory effect by the constraints and parameters variation

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