Vibration‐energy‐optimal trajectory planning for flexible servomotor systems with state constraints
نویسندگان
چکیده
منابع مشابه
Efficient Planning with State Trajectory Constraints
This paper introduces a general planning approach with state trajectory constraints, a language extension that has recently been introduced to PDDL for running the Fifth International Planning Competition in 2006. In our approach PDDL inputs with state trajectory constraints are translated into ordinary (fully instantiated) PDDL. It exploits the automata-based interpretation of the constraints,...
متن کاملTrajectory Planning for Systems with Homotopy Class Constraints
There are various applications where homotopy constraints are useful in trajectory generation for mobile robots. In this paper, we present a method to generate an optimal trajectory restricted to a particular homotopy class, which is specified by a given representative trajectory. The optimality is achieved by formulating the trajectory generation problem as a Mixed-Integer Quadratic Program (M...
متن کاملTrajectory Planning for Flexible Robots
William E. Singhose Georgia Institute of Technology 9.
متن کاملRobot Motion Planning with Trajectory Wide Constraints
Project Description At Carnegie Mellon University’s Personal Robotics Lab, we aim to create algorithms that enable robots to seamlessly and autonomously collaborate with and around people in human-centric environments, such as the home. One of the many challenges in creating this future is giving our robots the skill set to perform many of the tasks we do on a daily basis, from the simple to th...
متن کاملTrajectory Planning Method for Flexible Arm Mounted on Flexible Base
In this study, we consider a point-to-point motion of a flexible arm mounted on a flexible base, composed of a slide rail and helical extension springs, and then propose a trajectory planning method for reducing residual vibrations. The Lagrangian approach, in conjunction with the assumed mode method, is applied to derive the equations of motion of the system. In order to accurately construct t...
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: IET Control Theory & Applications
سال: 2019
ISSN: 1751-8652,1751-8652
DOI: 10.1049/iet-cta.2018.5532