Trajectory control of solid body spatial motion

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...

Nonlinear Trajectory Control of Multi-body Aerial Manipulators

This paper studies trajectory control of aerial vehicles equipped with robotic manipulators. The proposed approach employs free-flying multi-body dynamics modeling and backstepping control to develop stabilizing control laws for a class of underactuated aerial systems. Two control methods are developed: coordinate-based and coordinate-free which are both generally applicable to aerial manipulat...

Motion control for fast lDobile robots: a trajectory-based approach

This paper presents an approach to motion control for fast mobile robots. The approach is based around the notion of a trajectory, which describes the time evolution of the robot's position, orientation and velocity over some finite interval. The use of trajectories allows us to take into account a wide range of dynamic effects, including (but not limited to) finite accelerations and wheel slip...

Robot Control on Symbolic Trajectory Generation and Atomic Motion Behaviours

Intelligent connection of numeric data and symbolic or cognitive function plays a crucial role in AI robotics. This problem is also defined as symbol grounding or perceptual anchoring problem in different contexts. In this paper we consider this problem from fundamental robot kinematics, Qualitative kinematics of planar robots has been proposed in this paper based on aggregation operators and f...

Motion Control for Fast Mobile Robots: A Trajectory-Based Approach