Effectiveness of cutting is measured by the ability to achieve a desired rate of material fracture. The work performed by a knife overcomes the material toughness to yield fracture, acts against friction between the material and the blade, and generates shape deformation. This paper studies how to control a robotic arm to achieve a desired time profile of material fracture along a prescribed cu...

With the advance in the fields of computer science, control and optimization, it is now possible to build aerial vehicles which do not need pilots. An important capability for such autonomous vehicles is to be able to generate their own path to navigate in a constrained environment and accomplish mission objectives, such as reaching waypoints in minimal time. To account for dynamic changes in t...

Autonomous vehicles require optimal path planning algorithms to achieve mission goals while avoiding obstacles and being robust to uncertainties. The uncertainties arise from exogenous disturbances, modeling errors, and sensor noise, which can be characterized via stochastic models. Previous work defined a notion of robustness in a stochastic setting by using the concept of chance constraints. ...

In this paper we consider the problem of motion planning and control of a kinematically redundant manipulator which is used on forestry machines for logging. Once a desired path is specified in the 3D world frame, a trajectory can be planned and executed such that all joints are synchronized and path-constrained. A speed profile can be chosen according to particular costs (time, fuel consumptio...

A singularity-robust trajectory generator is presented which, given a prescribed manipulator path and corresponding kinematic solution, computes a feasible trajectory in the presence of kinematic singularities. The resulting trajectory is close to minimum time, subject to individual bounds on joint velocities and accelerations, and follows the path with precision. The algorithm has complexity O...

The compliant framed modular mobile robot is a new type of wheeled mobile robot for which the motion control problems of posture stabilization, path following, and trajectory tracking are studied. This robot has the advantages of a simple modular design that provides full suspension and steering capability without any additional components. Due to the flexible nature of the robot, the kinematic...

VII. CONCLUSION In this paper, optimal path planning for robot manipulator is presented that utilizes a variational technique. A simplified robot arm is considered to facilitate geometric collision checking scheme. This is incorporated in the variational technique to develop a collision avoidance strategy. The collision checking scheme is rather stringent. However, it reduces the computational ...

optimal balancing is a new approach based on optimal control a which modes, controls and the amount of equilibrium scale are calculated simultaneously. this approach has a significant effect on increasing performance of industrial robots which causes maximum decreasing of energy consumption. despite many applications of robotics such as welding and gluing, the path is predefined , but other unk...