A strategy of cooperative path planning for a master-slave multiple robot system is presented in this paper. The path planning method is based on motion constraints between the end-effectors of cooperative robots. Cooperation motions have been classified into three types by relative motions between end-effectors of master and slave robots, which is concurrent cooperation, coupled synchronous co...

This article studies the trajectory planning of redundant robots performing tasks within an enclosed workspace. Configuration control of kinematically redundant manipulators using the pseudo-inverse with null-space projection method is a wellknown scheme. One advantage of this method is that the gradient of an objective function can be included in the homogeneous term to optimize the objective ...

ISSN 1729‐8806, pp. 17–26 17 Path Planning of Free-Floating Robot in Cartesian Space Using Direct Kinematics Wenfu Xu1, Bin Liang1, Cheng Li1, Yangsheng Xu2 and Wenyi Qiang1 1Dept. of Control Science and Engineering Harbin Institute of Technology, Harbin, P.R. China 2 Dept. of Automation and Computer‐Aided Engineering The Chinese University of Hong Kong, Hong Kong, P.R.China {wfxu, bliang,cli...

In the paper we present a solution to the optimal trajectory planning problem subject to constraints given by joint torques and velocities, and the task. The main result is a trajectory planning algorithm which enables the calculation of the optimal motion due to the given requirements and taking into account the dynamics of the manipulator. First, the dynamic model of the manipulator in the pa...

The kinematics and dynamics of free-floating manipulators are examined from a fundamental point of view. The dynamic coupling between an uncontrolled spacecraft and its manipulator can make a system dynamically singular at configurations which cannot be predicted by the system’s kinematic properties. Nonholonomic behavior is observed in free-floating systems, and is due to the nonintegrability ...

Planning optimal paths for large numbers of robots is computationally expensive. In this thesis, we present a new framework for multirobot path planning called subdimensional expansion, which initially plans for each robot individually, and then coordinates motion among the robots as needed. More specifically, subdimensional expansion initially creates a one-dimensional search space embedded in...

This paper presents a general methodology for the offline planning of trajectory of a six axis serial robot along a specified path. The objective of trajectory planning is to minimise a cost function when subjected to joint angles, joint velocities, acceleration, jerks, torques and gripping force constraints by considering dynamic of the robot. A trigonometric spline is used to represent the tr...

We present a novelapproach to path planning for robotic manipulators, in which paths are produced via iterative optimisation the latent space of generative model robot poses. Constraints incorporated through use constraint satisfaction classifiers operating on same space. Optimisation leverages gradients our learned models that provide simple way combine goal reaching objectives with satisfacti...