The Cartesian path planning of free-floating space robot is much more complex than that of fixed-based manipulators, since the end-effector pose (position and orientation) is path dependent, and the position-level kinematic equations can not be used to determine the joint angles. In this paper, a method based on particle swarm optimization (PSO) is proposed to solve this problem. Firstly, we pa...

The mobile manipulator is expected to work in partially defined or unstructured environments. In our global/local approach to path planning, joint trajectories are generated for a desired Cartesian space path, designed by the global path planner. For a local path planner, inverse kinematics for a redundant system is used. Joint displacement limit for the manipulator links is considered in the m...

This case study discusses the interpolation of minimum-jerk robot joint trajectories through an arbitrary number of knots using a hard-wired neural network. Minimum-jerk joint trajectories are desirable for their similarity to human joint movements and their amenability to accurate tracking. The resultant trajectories are numerical functions of time. The interpolation problem is formulated as a...

This paper deals with the planning of dexterous grasps for multifingered robot hands. We derive a real-time, joint space finger path planning algorithm for the enclose phase of grasping motion. The algorithm minimizes the impact momentum of the hand. It uses a PreshapeJacobian matrix to map task-level hand preshape requirements into kinematic constraints. A master­ slave scheme avoids inter-fin...

Recently developed manipulator control languages typically specify motions as sequences ofpoints through which a tool afixed to the end of the manipulator is to pass. The effectiveness of such motion specijication formalisms is greatly increased if the tool moves in a straight line between the user-specijied points. This paper describes two methods for achieving such straight line motions. The ...

This paper presents a smooth path planning method considering physical limits for twowheeled mobile robots (TMRs). A Bezier curve is utilized to make an S-curve path. A convolution operator is used to generate the center velocity trajectory to travel the distance of the planned path while considering the physical limits. The trajectory gained through convolution does not consider the direction ...

The paper presents path planning of dual arm free flying space robot using smooth functions of time. Kinematic and dynamic modeling of dual arm free flying space robot is presented first. Using kinematic model the Jacobian of the system and using dynamic model equation of motion are derived. A path planning methodology for planar system is developed using smooth function of time such as polynom...

This paper presents a minimum‐time path planning scheme for life‐extending operation of legged robots, illustrated with a six‐legged walking robot (hexapod). The focus of this study is on extending the bearing fatigue life for leg joints. As a typical treatment, the minimum‐time path planning is performed through a bisecting‐plane (BP) algorithm with the co...

In many relevant path planning problems, loop closure constraints reduce the configuration space to a manifold embedded in the higher-dimensional joint ambient space. Whereas many progresses have been done to solve path planning problems in the presence of obstacles, only few work consider loop closure constraints. In this paper, we present the AtlasRRT algorithm, a planner specially tailored f...

We have designed a two-stage scheme to consider the trajectory planning problem of two mobile manipulators for cooperative transportation of a rigid body in the presence of static obstacles. In the first stage, with regard to the static obstacles, we develop a method that searches the workspace for the shortest possible path between the start and goal configurations, by constructing a graph on ...