Planning Maximum-Manipulability Cutting Paths

Pardi, Tommaso; Ortenzi, Valerio; Fairbairn, Colin; Pipe, Anthony G.; Esfahani, Amir Masoud Ghalamzan

doi:10.1109/lra.2020.2970949

Cited by 26 publications

(16 citation statements)

References 25 publications

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“…We assume that the ellipse (16) is a subset of some admissible input space U 0 ⊂ R 2 , that is, the semi-axes λ 1 = 1/ √ ρ and λ 2 = 1/ √ μ satisfy: λ 1 ≤ ω 0m and λ 2 ≤ v 0m , see (2). The positive-definite weighting matrix M allows one to account for different units of the components of input vector u 0 , [4], [29].…”

Section: A Control-input Ellipsementioning

confidence: 99%

“…C APABILITY and dexterity of motion in a task space belong to main characteristics analysed for the robot manipulators, robotic vehicles and devices. These characteristics are represented by the measures of manipulability (defined for manipulators) or maneuverability (defined for mobile robots), which relate to a motion feasibility problem, and can be used for the purposes of optimal motion planning, optimal control, and mechanical design, [1], [2].…”

Section: Introductionmentioning

confidence: 99%

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Trailer-Maneuverability in N-Trailer Structures

Michałek

2020

IEEE Robot. Autom. Lett.

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The letter presents a trailer-maneuverability analysis for the N-trailer kinematic structures comprising a tractor and an arbitrary number of single-axle trailers equipped with steerable or fixed wheels. For an elliptically-shaped set of tractor's inputvelocities, we derive a mobility-ellipse generated in a velocity space of the (last) trailer. We show that the on-axle type of hitching present in the N-trailer leads to a singularity of a trailer-mobility (at least one degree of mobility is lost). Furthermore, we provide some relations between kinematic parameters of the N-trailer and its control inputs which enable shaping the trailer-mobility ellipse and decoupling it from a joint-configuration of the vehicle.

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Section: A Control-input Ellipsementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Trailer-Maneuverability in N-Trailer Structures

Michałek

2020

IEEE Robot. Autom. Lett.

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“…The self-motion could result in better manipulator performance such as manipulability improvement (Jin et al, 2021), endeffector task completeness, and singularity configuration avoidance (Pardi et al, 2020).…”

Section: Introductionmentioning

confidence: 99%

“…Thereinto, the self-motion of redundant robot manipulators is to adjust the manipulator configuration from the initial state to final state keeping the end effector immobile at its current position or orientation (Li and Zhang, 2012 ; Zhang et al, 2021a ). The self-motion could result in better manipulator performance such as manipulability improvement (Jin et al, 2021 ), end-effector task completeness, and singularity configuration avoidance (Pardi et al, 2020 ).…”

Section: Introductionmentioning

confidence: 99%

Refined Self-Motion Scheme With Zero Initial Velocities and Time-Varying Physical Limits via Zhang Neurodynamics Equivalency

Tang

Zhang²

2022

Front. Neurorobot.

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By considering the different-level time-varying physical limits in joint space, a refined self-motion control scheme via Zhang neurodynamics equivalency (SMCSvZ) of redundant robot manipulators is proposed, analyzed, and investigated in this manuscript. The SMCSvZ is reformulated as a quadratic program with an equation constraint and a unified bound inequation constraint, which meets the self-motion requirements including the end effector keeping immobile and the initial joint-angle velocities being zero. Simulative verifications based on a six-degrees-of-freedom planar redundant manipulator substantiate the efficacy, accuracy, and superiority of the proposed control scheme, additionally by comparing it with two previous self-motion control schemes. Besides, simulative verifications based on a PUMA560 manipulator are carried out to further verify the availability and correctness of the SMCSvZ.

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“…After the coordinate systems of the robot's quick-hitch equipment and the attachment are obtained accurately, the motion trajectory of the quick-hitch equipment should be analyzed and planned [25] so as to provide the optimal attachment changing solution to the operator. In recent works on robot path planning research, a method for constrained motion planning based on vision was proposed, which enables a robot to move its end-effector over an observed surface [26]. A new neural network model that uses a super twisting algorithm for the tracking control of mobile robot manipulators was proposed [27].…”

Section: Introductionmentioning

confidence: 99%

Research on the Trajectory Planning of Demolition Robot Attachment Changing

Deng

Zou

Chen

et al. 2020

Sensors

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The process of changing the attachment of a demolition robot is a complex operation and requires a high docking accuracy, so it is hard for operators to control this process remotely through the camera’s perspective. To solve this problem, this paper studies trajectory planning for changing a demolition robot attachment. This paper establishes a link parameter model of the demolition robot; the position and attitude of the attachment are obtained through a camera, the optimal docking point is calculated to minimize the distance error during angle alignment for attachment change, the inverse kinemics of the demolition robot are solved, the trajectory planning algorithm and visualization program are programmed, and then the trajectory planning for the demolition robot attachment changing method is proposed. The results of calculations and experiments show that the method in this paper can meet the accuracy, efficiency, and safety requirements of demolition robot attachment changing, and it has promising application prospects in the decommissioning and dismantling of nuclear facilities and other radioactive environments.

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Planning Maximum-Manipulability Cutting Paths

Cited by 26 publications

References 25 publications

Trailer-Maneuverability in N-Trailer Structures

Trailer-Maneuverability in N-Trailer Structures

Refined Self-Motion Scheme With Zero Initial Velocities and Time-Varying Physical Limits via Zhang Neurodynamics Equivalency

Research on the Trajectory Planning of Demolition Robot Attachment Changing

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