Novel Cost Function based Motion-planning Method for Robotic Manipulators
نویسندگان
چکیده
منابع مشابه
a novel method for trajectory planning of cooperative mobile manipulators
we design a two-stage scheme to consider trajectory planning problem of two mobile manipulators for cooperative transportation of a rigid body in presence of static obstacles. within the first stage, regarding the static obstacles we develop a method that searches the workspace for the shortest possible path between start and goal configurations by constructing a graph on a portion of the confi...
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Robots on ships have to endure large inertial forces due to the non-inertial motion of the ship. The ship motion affects both the motion planning and control of the manipulator, and accurate predictions can improve performance substantially. It is thus important to investigate to what extent it is possible to predict the future motion of a ship. Based on these predictions, this paper presents a...
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The large amount of computation necessary for obtaining time optimal solution for moving a manipulator on specified path has made it impossible to introduce an on line time optimal control algorithm. Most of this computational burden is due to calculation of switching points. In this paper a learning algorithm is proposed for finding the switching points. The method, which can be used for both ...
متن کاملA Novel Method for Trajectory Planning of Cooperative Mobile Manipulators
We have designed a two-stage scheme to consider the trajectory planning problem of two mobile manipulators for cooperative transportation of a rigid body in the presence of static obstacles. In the first stage, with regard to the static obstacles, we develop a method that searches the workspace for the shortest possible path between the start and goal configurations, by constructing a graph on ...
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ژورنال
عنوان ژورنال: Advances in Science, Technology and Engineering Systems Journal
سال: 2019
ISSN: 2415-6698,2415-6698
DOI: 10.25046/aj040649