Trajectory Planning of 6R Jointed Industrial Robot Manipulators

Trajectory Planning and Control of Industrial Robot Manipulators

Tool Center Trajectory Planning for Industrial Robot Manipulators Using Dynamical Systems

In this paper we generalize previous work in which the fixed points of dynamical systems were used to construct obstacle-avoiding, goalattracting trajectories for robots to more complex attractors such as limit cycles in the form of closed planar curves. Following the development of a formalism for dealing with a mechanical system, some of whose coordinates are constrained to follow the traject...

Global minimum-jerk trajectory planning of robot manipulators

A new approach based on interval analysis is developed to find the global minimum-jerk (MJ) trajectory of a robot manipulator within a joint space scheme using cubic splines. MJ trajectories are desirable for their similarity to human joint movements and for their amenability to path tracking and to limit robot vibrations. This makes them attractive choices for robotic applications, in spite of...

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...

A Novel Robust Adaptive Trajectory Tracking in Robot Manipulators

In this paper, a novel adaptive sliding mode control for rigid robot manipulators is proposed. In the proposed system, since there may exist explicit unknown parameters and perturbations, a Lyapunov based approach is presented to increase system robustness, even in presence of arbitrarily large (but not infinite) discontinuous perturbations. To control and track the robot, a continuous controll...