Kinematic Trajectory Planning for Dynamically Unconstrained Nonprehensile Joints
نویسندگان
چکیده
منابع مشابه
Complete Path Planning for Closed Kinematic Chains with Spherical Joints
We study the path planning problem, without obstacles, for closed kinematic chains with n links connected by spherical joints in space or revolute joints in the plane. The configuration space of such systems is a real algebraic variety whose structure is fully determined using techniques from algebraic geometry and differential topology. This structure is then exploited to design a complete pat...
متن کاملKinematic Controllability and Decoupled Trajectory Planning for Underactuated Mechanical Systems
We introduce the notion of kinematic controllability for second-order underactuated mechanical systems. For systems satisfying this property, the problem of planning fast collision-free trajectories between zero velocity states can be decoupled into the computationally simpler problems of path planning for a kinematic system followed by time-optimal time scaling. While this approach is well kno...
متن کاملKinematic controllability for decoupled trajectory planning in underactuated mechanical systems
We introduce the notion of kinematic controllability for second-order underactuated mechanical systems. For systems satisfying this property, the problem of planning fast collision-free trajectories between zero velocity states can be decoupled into the computationally simpler problems of path planning for a kinematic system followed by timeoptimal time scaling. While this approach is well know...
متن کاملKinematic Analysis and Trajectory Planning of the Orthoglide 5-axis
The subject of this paper is about the kinematic analysis and the trajectory planning of the Orthoglide 5-axis. The Orthoglide 5-axis a five degrees of freedom parallel kinematic machine developed at IRCCyN and is made up of a hybrid architecture, namely, a three degrees of freedom translational parallel manipulator mounted in series with a two degrees of freedom parallel spherical wrist. The s...
متن کاملConstrained Multi-Objective Trajectory Planning of Parallel Kinematic Machines
This paper presents a new approach to multi-objective dynamic trajectory planning of Parallel Kinematic Machines (PKM) under task, workspace and manipulator constraints. The robot kinematic and dynamic models, (including actuators) are first developed. Then the proposed trajectory planning system is introduced. It minimizes electrical and kinetic energy, robot travel time separating two samplin...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: IEEE Robotics and Automation Letters
سال: 2018
ISSN: 2377-3766,2377-3774
DOI: 10.1109/lra.2017.2788197