the trajectory of a spacecraft in flight has been predicted, control measures are required to ensure that the trajectory data is applied in a consistent manner when calculating the many trajectory-related parameters required by the flight controllers of the space fligh t. This paper describes the queue control techniques used in generating the predicted trajectory and the subsequent use of the ...

In this paper we consider the problem of trajectory verification for a classical GoughStewart platform i.e. we want to verify if a given trajectory obeys various criteria which define its validity, for example that the trajectory lies fully inside the workspace of the robot and is singularity-free. We propose an almost real-time method that may deal with almost any trajectory and any validity c...

Trajectory planning is a fundamental issue for robotic applications and automation in general. The ability to generate trajectories with given features is a key point to ensure significant results in terms of quality and ease of performing the required motion, especially at the high operating speeds necessary in many applications. The general problem of trajectory planning in Robotics is addres...

The method proposed here produces trajectories of articulatory movements based on a kinematic triphone model and the mimimum-jerk model. The kinematic triphone model, which is constructed from articulatory data obtained in the experiments through the use of a magnetic sensor system, is characterized by three kinematic features for a triphone and intervals between two successive phonemes in the ...

This paper considers the problem of spatial planning and open-loop control for underactuated AUVs. Given a smooth inertial 3D trajectory to be followed by some vehicle point, the developed algorithm uses the vehicle dynamic model, and computes the 3D corresponding body-fixed linear and angular velocities as well as vehicle orientations, yielding a feasible 6 DOF trajectory. Tracking controllers...

this paper presents a parameterization method to optimal trajectory planning and dynamic obstacle avoidance for omni-directional robots. the aim of trajectory planning is minimizing a quadratic cost function while a maximum limitation on velocity and acceleration of robot is considered. first, we parameterize the trajectory using polynomial functions with unknown coefficients which transforms t...

A new paradigm for numerically approximating trajectories of an ODE is espoused. We ask for a one to one correspondence between trajectories of an ODE and its discrete approximation. The results enable one, in principal, to compute a trajectory of a discrete approximation, and to use this computation to rigorously prove the existence of a trajectory of the ODE near the discrete trajectory. More...

This paper presents a new tracking control scheme for an underwater vehicle-manipulator system (UVMS). The proposed task space passivity based controller is not only used to track the given desired path but also allows the use of the self-motion of the vehicle to perform power efficient trajectory because of its kinematically redundant nature. In the proposed scheme, the primary task is to trac...

We consider two fluid queues attended by a switching server and address the optimal steady-state and transient trajectory problems. The steady-state problem is formulated as a quadratic problem (QP), given a fixed cycle time. Evaluating the QP problem over a range of cycle times results in the optimal steady-state trajectory. We minimize the holding costs, backlog costs and setup costs, allow s...