Development of articulated robot trajectory planning

Li, Zheng; Li, Gongfa; Sun, Ying; Jiang, Guozhang; Kong, Jianyi; Liu, Honghai

doi:10.1504/ijcsm.2017.083152

Cited by 23 publications

(12 citation statements)

References 31 publications

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“…Before the optimization, the definition frame is consistent with the world frame. Since the trajectory is planned over time in this paper, the curve to be tracked is represented by a time function as shown by (1)…”

Section: Problem Formulation For Optimal Trajectory Planningmentioning

confidence: 99%

“…It is a key research in industrial robot. 1 Our problem is targeting on tracking a predetermined path in a 3D work space. The two welding tasks 2,3 for automatic welding robot system, which are showed in Fig.…”

Section: Introductionmentioning

confidence: 99%

“…cubic, quartic, quintic, trigonometric and synchronized trigonometric S-curves. 1 Recently, Zou proposed an algorithm using Non-Uniform Rational B-Spline (NURBS) curve interpolation to reduce the chord error and yield a smooth trajectory. 5 These researches successfully solved the problem of the smoothness of the trajectory.…”

Section: Introductionmentioning

confidence: 99%

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An optimal trajectory planning method for path tracking of industrial robots

Luo

Liu

et al. 2018

Robotica

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SUMMARYThis paper presents an optimal trajectory planning method for industrial robots. The paper specially focuses on the applications of path tracking. The problem is to plan the trajectory with a specified geometric path, while allowing the position and orientation of the path to be arbitrarily selected within the specific ranges. The special contributions of the paper include (1) an optimal path tracking formulation focusing on the least time and energy consumption without violating the kinematic constraints, (2) a special mechanism to discretize a prescribed path integration for segment interpolation to fulfill the optimization requirements of a task with its constraints, (3) a novel genetic algorithm (GA) optimization approach that transforms a target path to be tracked as a curve with optimal translation and orientation with respect to the world Cartesian coordinate frame, (4) an integration of the interval analysis, piecewise planning and GA algorithm to overcome the challenges for solving the special trajectory planning and path tracking optimization problem. Simulation study shows that it is an insufficient condition to define a trajectory just based on the consideration that each point on the trajectory should be reachable. Simulation results also demonstrate that the optimal trajectory for a path tracking problem can be obtained effectively and efficiently using the proposed method. The proposed method has the properties of broad adaptability, high feasibility and capability to achieve global optimization.

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Section: Problem Formulation For Optimal Trajectory Planningmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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An optimal trajectory planning method for path tracking of industrial robots

Luo

Liu

et al. 2018

Robotica

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show abstract

“…The simple way to select the nearest POI as semantic labels, however, it is often ineffective. The intelligent optimization algorithms [31][32][33][34][35][36][37][38] may be an effective way to optimize POI selection.…”

Section: Related Workmentioning

confidence: 99%

Semantic Trajectory Based Behavior Generation for Groups Identification

2018

KSII TIIS

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With the development of GPS and the popularity of mobile devices with positioning capability, collecting massive amounts of trajectory data is feasible and easy. The daily trajectories of moving objects convey a concise overview of their behaviors. Different social roles have different trajectory patterns. Therefore, we can identify users or groups based on similar trajectory patterns by mining implicit life patterns. However, most existing daily trajectories mining studies mainly focus on the spatial and temporal analysis of raw trajectory data but missing the essential semantic information or behaviors. In this paper, we propose a novel trajectory semantics calculation method to identify groups that have similar behaviors. In our model, we first propose a fast and efficient approach for stay regions extraction from daily trajectories, then generate semantic trajectories by enriching the stay regions with semantic labels. To measure the similarity between semantic trajectories, we design a semantic similarity measure model based on spatial and temporal similarity factor. Furthermore, a pruning strategy is proposed to lighten tedious calculations and comparisons. We have conducted extensive experiments on real trajectory dataset of Geolife project, and the experimental results show our proposed method is both effective and efficient.

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“…Developing the front-end HCI technologies of smart cities can promote efficiency and accessibility of transportation, environment, security, management, service, culture, medical and other industries in modern cities. Improving the level of intelligent and refining management in the field of urban operation management is very important to the development of intelligent urban [4], [5].…”

Section: Introductionmentioning

confidence: 99%

Intelligent Human-Computer Interaction Based on Surface EMG Gesture Recognition

Jiang

et al. 2019

IEEE Access

Self Cite

160

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Urban intelligence is an emerging concept which guides a series of infrastructure developments in modern smart cities. Human-computer interaction (HCI) is the interface between residents and the smart cities, it plays a key role in bridging the gap in applicating information technologies in modern cities. Hand gestures have been widely acknowledged as a promising HCI method, recognition human hand gestures using surface electromyogram (sEMG) is an important research topic in the application of sEMG. However, state-of-the-art signal processing technologies are not robust in feature extraction and pattern recognition with sEMG signals, several technical problems are still yet to be solved. For example, how to maintain the availability of myoelectric control in intermittent use, since pattern recognition qualities are greatly affected by time variability, but it is unavoidable during daily use. How to ensure the reliability and effectiveness of myoelectric control system also important in developing a good human-machine interface. In this paper, linear discriminant analysis (LDA) and extreme learning machine (ELM) are implemented in hand gesture recognition system, which is able to reduce the redundant information in sEMG signals and improve recognition efficiency and accuracy. The characteristic map slope (CMS) is extracted by using the feature re-extraction method because CMS can strengthen the relationship of features cross time domain and enhance the feasibility of cross-time identification. This study is focusing on optimizing the time differences in sEMG pattern recognition, the experimental results are beneficial to reducing the time differences in gesture recognition based on sEMG. The recognition framework proposed in this paper can enhance the generalization ability of HCI in the long term use and it also simplifies the data collection stage before training the device ready for daily use, which is of great significance to improve the time generalization performance of an HCI system.

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Development of articulated robot trajectory planning

Cited by 23 publications

References 31 publications

An optimal trajectory planning method for path tracking of industrial robots

An optimal trajectory planning method for path tracking of industrial robots

Semantic Trajectory Based Behavior Generation for Groups Identification

Intelligent Human-Computer Interaction Based on Surface EMG Gesture Recognition

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