High-speed assembly makes strict demands on path and trajectory planning systems. In such systems the stages of path planning, trajectory planning, andìow-level' control are normally separated, which admits functional simplicity but may not produce the most useful trajectories. Thus we have been exploring the possibility of merging the levels, by allowing the path planner to generate the trajec...

With the rapid development of world economy and science technology, intelligent era has kicked off, application automatic driving technology also attracted people's attention. Trajectory planning tracking control, as key technologies autonomous driving, determine safety stability vehicles during driving. Aiming at problems control robustness, research on structured road obstacle avoidance traje...

Red, Edward, "A dynamic optimal trajectory generator for Cartesian Path following" (2000). All Faculty Publications. Paper 589. SUMMARY This paper considers a dynamic and adaptive trajectory generator for negotiating paths using S-curves. Applying constant jerk transitions between the constant acceleration and deceleration periods of the trajectory, the trajectory will optimally transition to t...

The dogleg severity is one of the most important parameters in directional drilling. Improvement of these indicators actually means choosing the best conditions for the directional drilling in order to reach the target point. Selection of high levels of the dogleg severity actually means minimizing well trajectory, but on the other hand, increases fatigue in drill string, increases torque and d...

in this paper, trajectory generation for the 4 dof arm of surena iii humanoid robot with the purpose of optimizing energy and avoiding a moving obstacle is presented. for this purpose, first, kinematic equations for a seven dof manipulator are derived. then, using the lagrange method, an explicit dynamics model for the arm is developed. in the next step, in order to generate the desired traject...

We present the design and implementation of a visionbased system for micron-scale, cooperative manipulation of a surgical tool. The system is based on a control algorithm that implements a broad class of guidance modes called virtual xtures. A virtual xture, like a real xture, limits the motion of a tool to a prescribed class or range. The implemented system uses vision as a sensor for providin...

This paper presents a method for path-following for quadcopter trajectories in real time. Non-Linear Guidance Logic is used to find the intercepts of the subsequent destination. Trajectory tracking is implemented by formulating the trajectory of the quadcopter using its jerk, in discrete time, and then solving a convex optimization problem on each decoupled axis. Based on the maximum possible t...

Abstract Existing sounding rocket flight is probably disturbed by external factors, of which attitude lack automatic control function and trajectory not stable, thus the project designed a canard adjustable posture scheme based on PID algorithm, can effectively solve stability path anti-interference problem with high efficiency.

| This paper addresses trajectory planning in dynamic workspaces, i.e. trajectory planning for a robot subject to dynamic constraints and moving in a workspace with moving obstacles. First is introduced the novel concept of state-time space, i.e. the state space of the robot augmented of the time dimension. Like the concept of connguration space which is a tool to formulate path planning proble...

Abstract: In this paper a Lyapunov technique is presented for the synthesis of controllers characterised by control signals that, for construction simplicity and/or in order to attain a better efficiency, may only assume a finite number of values. In particular, a design technique of a control law with prescribed control levels for a class of continuous-time SISO uncertain nonlinear systems is ...