In optimal kinodynamic planning, given a robot system, we must nd a minimal-time trajectory that goes from a start state to a goal state while avoiding obstacles by a speed-dependent safety-margin and respecting dynamics bounds. With Canny and Reif 1], we approached this problem from an-approximation standpoint and introduced a provably-good approximation algorithm for optimal kinodynamic plann...

In this paper, combining with the examples, we focus on the study of general Kinematics modeling and simulation of Four degrees of freedom carrying manipulator based on laboratory development. On the basis of calculating kinematic positive and inverse solutions, a space trajectory curve is planed which is composed of three sections of straight lines and two pieces of circular arc. For 4R manipu...

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...

This article addresses an efficient and novel method for singularity-free path planning and obstacle avoidance of parallel manipulator based on neural networks. A modified 4-5-6-7 interpolating polynomial is used to plan a trajectory for a spherical parallel manipulator. The polynomial function which is smooth and continuous in displacement, velocity, acceleration and jerk is used to find a pat...

The new generation Chinese high-resolution three-line stereo-mapping satellite Ziyuan 3 (ZY-3) is equipped with three sensors (nadir, backward, and forward views). Its objective is to manufacture the 1 : 50000 topographic map and revise and update the 1 : 25000 topographic map. For the push-broom satellite, the interpolation accuracy of orbit and attitude determines directly the satellite's ste...

Providing smooth reference trajectories can effectively increase performance and accuracy of tracking control applications while overshoot unwanted vibrations are reduced. Trajectory planning computations often be simplified significantly by transforming the system dynamics into decoupled integrator chains using methods such as feedback linearization, differential flatness or Brunovsky normal f...

A new method of minimum-energy point-to-point (PTP) trajectory planning is proposed for an LCD glass-handing robot, which is driven by a permanent magnet synchronous motor (PMSM). The variable structure controller (VSC) is designed to track the trajectories and compensate LuGre model of frictional torque effects. The robot system is described by a mechanical equation and an electrical equation....

A class of primal dual interior point methods is developed These methods use a higher order Taylor polynomial to approximate a primal dual trajectory de ned from an infeasible point A detailed implementation of these methods is given and their computational performance is studied We give computational results for two di erent approaches for de ning trajectory and using up to th order polynomial...

This work is concentrated to optimize the trajectory for planer two-link robot. The whole travel of the trajectory is divided into two parts, which consists of fourth order polynomial trajectory for the one part and fifth order trajectory for the second part. There are many optimization algorithms, which can be implemented to solve such problems. Evolutionary algorithms are also tried by many r...