This paper presents a joint selection criterion for optimal trajectory planning using dynamic programming along a specified geometric path subject to torque and velocity constraints. A single non-stationary joint is normally considered for optimization purpose. In case of more than one non-stationary joints, the optimization by selecting any joint at random may end up with a non-optimal solutio...

The main objective of this paper is to find a path for the robot arm from its given start point to its desired goal point in an automated manner without collision with the obstacles. This paper investigates the problem of path planning for a 5 axis robot, operating in environment with obstacles whose boundaries are enveloped by cubic shape. The path planning approach presented is developed in t...

This paper presents a new algorithm which generates time-optimal trajectories given a path as input. The algorithm improves on previous approaches by generically handling a broader class of constraints on the dynamics. It eliminates the need for heuristics to select trajectory segments that are part of the optimal trajectory through an exhaustive, but efficient search. We also present an algori...

The purpose of this paper is to develop a method of Collision-Free Path Planning (CFPP) for articulated robots. First, the configuration of a robot is designed using a set of robot joint angles derived from robot inverse kinematics. The joint space, which is made of a joint angle set, forms a Configuration space (Cspace). Obstacles in a robot work-cell are transformed into Cobstacles (obstacles...

In this paper, the issue of path planning is addressed for unmanned air vehicles (UAVs) cooperative joint-forces electronic attack operating in a hostile environment. Specifically, the objective is to plan path to a target location in a way that minimizes exposure to threats while keeping fuel usage at acceptable levels. We consider a scenario where a group of UAVs flies in a close formation an...

Collision avoidance for a visuo-motor system in unstructured and cluttered environment is described. The achievement of collision avoidance is based on a simplified path planning system and motion control performed by self-organizing maps. The self-organizing maps are learned to determine joint angles of a redundant manipulator. Since the learning algorithm promises to make the manipulator reac...

This paper proposes a potential‐based path planning algorithm of articulated robots with 2‐DOF joints. The algorithm is an extension of a previous algorithm developed for 3‐DOF joints. While 3‐DOF joints result in a more straightforward potential minimization algorithm, 2‐DOF joints are obviously more practical for active operations. The proposed approach computes r...

A new approach based on interval analysis is developed to find the global minimum-jerk (MJ) trajectory of a robot manipulator within a joint space scheme using cubic splines. MJ trajectories are desirable for their similarity to human joint movements and for their amenability to path tracking and to limit robot vibrations. This makes them attractive choices for robotic applications, in spite of...