Trajectory planning is the basis of robot control. A robot with seven degrees of freedom is the object of study. The shortest time is taken as the trajectory optimization target. The joint trajectory planning is carried out by using B-spline curve. Under the constraint of kinematics parameters, the time optimization of the motion trajectory is realized by using the improved genetic algorithm. T...

In this paper, a control solution featuring an energetic constraint is developed to improve the safety of a robotic manipulator sharing its workspace with humans. This general control structure, exploits a generic safe controller that ensures the respect of multiple constraints thanks to a Linear Quadratic Problem formulation. With a unified energetic formulation, the controller allows to expli...

The solution of the inverse kinematic problem is of the utmost importance in robotic manipulator control. This article proposes a closed-loop scheme for solving the inverse kinematic problem for nonredundant and redundant wrists based on the computation of the Jacobian transpose. The manipulability measure is suitably introduced as a constraint for redundant wrists, by taking advantage of the n...

A method to compute an exact cell decomposition and corresponding connectivity graph of the configuration space (C-space) of a planar closed chain manipulator moving among point obstacles is developed. By studying the global properties of the loop closure and collision constraint set, a cylindrical decomposition of the collision-free portion of C-space (C-free) is obtained without translating t...

This paper presents a general necessary condition for singular time optimal control of robotic manipulation moving along specified paths. Early work [l], [7] ignored the issue of singular control, assuming bang-bang acceleration along the path. Recent work [6] has shown that the time optimal control can be singular if one of the equations of motion reduces to a velocity constraint. This paper d...

This paper presents a novel approach to plan the optimal joint trajectory for a manipulator robot performing constrained motion tasks. In general, a two-step scheme will be deployed to find the optimal robot joint curve. Firstly, instead of solving a nonlinear, implicit EulerLagrange equation, we discretize the corresponding cost function and use Newton’s iterations to numerically calculate the...

This paper uses Gauss’ Principle of Least Constraint to derive the “natural” dynamic equations for redundant manipulators. This approach is the fastest way to the result that the operational space inertia matrix of the manipulator is the natural weighting matrix .for the projection used in solving the redundancy problem. Force-controlled robots form a special case of redundant robots, such that...

This paper investigates a novel position sensor based force reflection framework for multi degrees-of-freedom bilateral teleoperation systems in unstructured environments. The conventional position sensor based force reflection method, known as position error feedback, may generate grossly inaccurate force reflection directions during collisions involving the slave manipulator links. The propos...

Property Specification Patterns (PSPs) have been proposed to solve recurring specification needs, to ease the formalization of requirements, and enable automated verification thereof. In this paper, we extend PSPs by considering Boolean as well as atomic assertions from a constraint system. This extension enables us to reason about functional requirements which would not be captured by basic PS...

This paper proposes a feasible anti-disturbance constrained control algorithm for class of typical permanent magnet synchronous motor (PMSM) driven-based single-joint flexible manipulator systems with input saturation and angular velocity constraint. Firstly, by actuating surface-mounted PMSM, setting the d-axis current as zero, is converted into normal state space model. Secondly, compared cla...