Infinitely differentiable and continuous trajectory planning for mobile robot control

Lee, An Yong; Jang, Gunhee; Choi, Youngjin

doi:10.1109/urai.2013.6677386

Cited by 9 publications

(2 citation statements)

References 7 publications

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“…A proportional-integral (PI) velocity controller is derived, together with a position controller. The trajectory is designed to be smooth and differentiable, with a path that begins with a zero initial condition for the position and its derivatives up to the sixth derivative, commonly referred to as the piston's "crackle" [51,52].…”

Section: Hydraulic Systemmentioning

confidence: 99%

Development and Validation of a 1D Dynamic Model of an Injection Moulding Process and Design of a Model-Based Nozzle Pressure Controller

Hertz,

Therkelsen,

Kristiansen

et al. 2024

Polymers

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A 1D model describing the dynamics of an injection moulding machine and the injection process is presented. The model describes an injection cylinder actuated by a dual-pump electro–hydraulic speed-variable drive and the filling, holding and cooling phases of the injection moulding process utilising amorphous polymers. The model is suggested as the foundation for the design of model-based pressure controllers of, e.g., the nozzle pressure. The focus is on using material, mould and machine properties to construct the model, making it possible to analyse and design the dynamic system prior to manufacturing hardware or conducting experiments. Both the presented model and the developed controller show good agreement with experimental results. The proposed method is general in nature and enables the design, analysis and evaluation of the machine, material and mould dynamics for controller design based solely on the physical properties of the system.

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Section: Hydraulic Systemmentioning

confidence: 99%

Development and Validation of a 1D Dynamic Model of an Injection Moulding Process and Design of a Model-Based Nozzle Pressure Controller

Hertz,

Therkelsen,

Kristiansen

et al. 2024

Polymers

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show abstract

“…In contemporary industrial production, time-optimal planning algorithms are utilized to complete corresponding paths in the shortest time, such as PSO (Particle Swarm Optimization) algorithms and genetic algorithms [5]. In multi-objective optimal trajectory planning, the accuracy of late curve control tends to diminish as runtime increases, resulting in reduced accuracy of the robotic arm system and increased overall mechanical loss [6]. This scenario is less than ideal for practical engineering applications.…”

Section: Introductionmentioning

confidence: 99%

An FPGA-Based Hardware Low-Cost, Low-Consumption Target-Recognition and Sorting System

Wang,

Han,

Chen

et al. 2023

WEVJ

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In autonomous driving systems, high-speed and real-time image processing, along with object recognition, are crucial technologies. This paper builds upon the research achievements in industrial item-sorting systems and proposes an object-recognition and sorting system for autonomous driving. In industrial sorting lines, goods-sorting robots often need to work at high speeds to efficiently sort large volumes of items. This poses a challenge to the robot’s real-time vision and sorting capabilities, making it both practical and economically viable to implement a real-time and low-cost sorting system in a real-world industrial sorting line. Existing sorting systems have limitations such as high cost, high computing resource consumption, and high power consumption. These issues mean that existing sorting systems are typically used only in large industrial plants. In this paper, we design a high-speed, low-cost, low-resource-consumption FPGA (Field-Programmable Gate Array)-based item-sorting system that achieves similar performance to current mainstream sorting systems but at a lower cost and consumption. The recognition component employs a morphological-recognition method, which segments the image using a frame difference algorithm and then extracts the color and shape features of the items. To handle sorting, a six-degrees-of-freedom robotic arm is introduced into the sorting segment. The improved cubic B-spline interpolation algorithm is employed to plan the motion trajectory and consequently control the robotic arm to execute the corresponding actions. Through a series of experiments, this system achieves an average recognition delay of 25.26 ms, ensures smooth operation of the gripping motion trajectory, minimizes resource consumption, and reduces implementation costs.

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Fifth order trajectory planning for reducing residual vibration

Fang

Shao

et al. 2019

2019 IEEE 4th International Conference on Advanced Robotics and Mechatronics (ICARM)

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Infinitely differentiable and continuous trajectory planning for mobile robot control

Cited by 9 publications

References 7 publications

Development and Validation of a 1D Dynamic Model of an Injection Moulding Process and Design of a Model-Based Nozzle Pressure Controller

Development and Validation of a 1D Dynamic Model of an Injection Moulding Process and Design of a Model-Based Nozzle Pressure Controller

An FPGA-Based Hardware Low-Cost, Low-Consumption Target-Recognition and Sorting System

Fifth order trajectory planning for reducing residual vibration

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