Optimal trajectory optimization of 7R robot for space maintenance operation

Optimal Trajectory Planning of a Box Transporter Mobile Robot

This paper aims to discuss the requirements of safe and smooth trajectory planning of transporter mobile robots to perform non-prehensile object manipulation task. In non-prehensile approach, the robot and the object must keep their grasp-less contact during manipulation task. To this end, dynamic grasp concept is employed for a box manipulation task and corresponding conditions are obtained an...

Optimal Trajectory Planning of a Mobile Robot with Spatial Manipulator For Spatial Obstacle Avoidance

Mobile robots that consist of a mobile platform with one or many manipulators mounted on it are of great interest in a number of applications. Combination of platform and manipulator causes robot operates in extended work space. The analysis of these systems includes kinematics redundancy that makes more complicated problem. However, it gives more feasibility to robotic systems because of the e...

optimal trajectory planning of a box transporter mobile robot

this paper aims to discuss the requirements of safe and smooth trajectory planning of transporter mobile robots to perform non-prehensile object manipulation task. in non-prehensile approach, the robot and the object must keep their grasp-less contact during manipulation task. to this end, dynamic grasp concept is employed for a box manipulation task and corresponding conditions are obtained an...

Space Trajectory Optimization and L-Optimal Control Problems

Optimal trajectory generation for wheeled mobile robot

The problem associated with trajectory generation for a car-like robot (CLR) moving from an initial configuration to any final configuration is studied in this paper. The aim of our research is to achieve energy-optimal solution to the problem of trajectory generation. Based on bang-bang control theory, the necessary condition for energy-optimal trajectory generation is studied. Based on steeri...