Real-time smooth trajectory generation for nonholonomic mobile robots using Bézier curves

Simba, Kenneth Renny; Uchiyama, Naoki; Sano, Shigenori

doi:10.1016/j.rcim.2016.02.002

Cited by 87 publications

(18 citation statements)

References 34 publications

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“…Mlýnek et al described an optimized winding process that was considered for the case of a generally 3D geometrically shaped frame having a constant circular cross-section of the frame [1,23]. The optimization, and also the control of robot trajectory in the fiber winding process, has been the topic of many studies for the accurate fabrication of composite frames [1,35,40,[42][43][44][45][46][47].…”

Section: Introductionmentioning

confidence: 99%

Fabrication of High-Quality Straight-Line Polymer Composite Frame with Different Radius Parts Using Fiber Winding Process

et al. 2021

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The extraordinary features of fibrous composites enable advanced industries to design composite structures with superior performance compared to traditional structures. Composite frame structures have been designed frequently as components of mechanical systems to resist lateral and gravity loads. The manufacturing of high-quality composite frames depends primarily on the accurate fiber winding on frames with different pro-files and curved shapes. The optimal fiber winding process on a nonbearing composite frame with a circular cross-section is described in previous works by the same authors. As an extension to that, this study focuses on the manufacturing of straight-line composite frames with different profile radii at multiple locations. Such production procedure allows continuous winding of fibers gradually on individual parts of the frame and generally with different angles of fiber winding. The winding procedure is performed using fiber-processing head and industrial robot. The procedure for calculating the distance of the winding plane of fibers on the frame from the guide-line of the fiber-processing head is targeted. This distance depends on the required angle of fiber winding, the radius of the frame, and the geometric parameters of the fiber-processing head. The coordination of the speed of winding the fibers on the frame and the speed of the passage of the frame through the winding head is also considered. Determining the correct distance of winding the fibers from the corresponding guide-line of fiber-processing head and right coordination of the winding speed and the speed of passage of the frame through the fiber-processing head ensure compliance of the required angles of fiber windings on the frame and homogeneity of winding fibers, which are the two of the most important prerequisites for producing a quality composite frame. The derived theory is well verified on a practical experimental example.

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Section: Introductionmentioning

confidence: 99%

Fabrication of High-Quality Straight-Line Polymer Composite Frame with Different Radius Parts Using Fiber Winding Process

et al. 2021

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“…Bezier curve has been used for trajectory planning by many researchers. Combining the Bezier curve with the particle swarm optimization (PSO) method effectively controlled the movement of the trolley-load system (Jolly et al, 2009; Renny Simba et al, 2016; Wang et al, 2015). Liu and Cheng (2018) succeeded in suppressing the payload swing using a fifth-order Bezier curve that is generated as the trolley’s displacement.…”

Section: Introductionmentioning

confidence: 99%

A smooth optimized input shaping method for two-dimensional crane systems using Bezier curves

Alfadhli

Khorshid

2021

Transactions of the Institute of Measurement and Control

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Conventional input shaping commands have been successfully employed to suppress residual vibration in the payload rest-to-rest transportation process. Most of these methods introduce an impractical large and sudden variation on the acceleration profile. This paper presents a new smooth command input with adjustable time length and limited jerks. The command input is generated from the trolley displacement using a Bezier curve function by adjusting the position of the control points, which were divided into boundary and intermedium points. The boundary control points are selected to accurately move the trolley to its desired position with zero velocity and acceleration at the closing motion. The positions of the intermedium points were optimized using a particle swarm scheme for reducing maneuvering time while suppressing the payload oscillations at the end of the process and satisfying physical system constraints. Several cases were discussed for fixed cable length, variable cable involving single and multi-hoisting mechanisms, and different maneuver times. Simulated results were validated experimentally on a laboratory size crane. The results demonstrated that the proposed input Bezier-curve shaper provides an effective, reliable, and practical technique to be used for the payload transportation process. Moreover, the proposed method can generate asymmetrical acceleration and deceleration motions, which cannot be achieved using existing smoother commands.

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“…Gao et al proposed high-speed fiber placement technology in a new methodology of motion planning in a redundant robotic system [25], in which the problem of time optimization of robot motion is solved [25,28,29]. The optimization of robot trajectory in the fiber winding process is also addressed, in which graph theory is used to obtain the optimal robot trajectory as well as special algorithm such as genetic algorithm, harmony search and also Bézier curves [28][29][30][31][32]. A similar topic, however, focused rather on the study of trajectory control of an arbitrary shape winding mandrel in 3D circular braiding is explored in [20,23,27].…”

Section: Introductionmentioning

confidence: 99%

Fabrication of High-Quality Polymer Composite Frame by a New Method of Fiber Winding Process

et al. 2020

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Polymer composite frame has been frequently used in the main structural body of vehicles in aerospace, automotive, etc., applications. Manufacturing of complex curved composite frame suffer from the lack of accurate and optimum method of winding process that lead to preparation of uniform fiber arrangement in critical location of the curved frame. This article deals with the fabrication of high-quality polymer composite frame through an optimal winding of textile fibers onto a non-bearing core frame using a fiber-processing head and an industrial robot. The number of winding layers of fibers and their winding angles are determined based on the operational load on the composite structure. Ensuring the correct winding angles and thus also the homogeneity of fibers in each winding layer can be achieved by using an industrial robot and by definition of its suitable off-line trajectory for the production cycle. Determination of an optimal off-line trajectory of the end-effector of a robot (robot-end-effector (REE)) is important especially in the case of complicated 3D shaped frames. The authors developed their own calculation procedure to determine the optimal REE trajectory in the composite manufacturing process. A mathematical model of the winding process, matrix calculus (particularly matrices of rotations and translations) and an optimization differential evolution algorithm are used during calculation of the optimal REE trajectory. Polymer composites with greater resistance to failure damage (especially against physical destruction) can be produced using the above mentioned procedure. The procedure was successfully tested in an experimental composite laboratory. Two practical examples of optimal trajectory calculation are included in the article. The described optimization algorithm of REE trajectory is completely independent of the industrial robot type and robot software tools used and can also be used in other composite manufacturing technologies.

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Real-time smooth trajectory generation for nonholonomic mobile robots using Bézier curves

Cited by 87 publications

References 34 publications

Fabrication of High-Quality Straight-Line Polymer Composite Frame with Different Radius Parts Using Fiber Winding Process

Fabrication of High-Quality Straight-Line Polymer Composite Frame with Different Radius Parts Using Fiber Winding Process

A smooth optimized input shaping method for two-dimensional crane systems using Bezier curves

Fabrication of High-Quality Polymer Composite Frame by a New Method of Fiber Winding Process

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