This paper is concerned with the synthesis of dynamic model of the redundant manipulator robot based on Linear Parameter Varying approach. To evaluate its behavior and in presence of external disturbance several motions profiles are developed using a new algorithm which produce smooth trajectories in optimal time. The main advantages of this proposed approach are its robustness and its simplici...

The necessity of studying the nature propagation maximum laser radiation pattern in Anderson differential cell is substantiated. A new technique has been developed for conducting these studies, which takes into account all factors when constructing trajectory cuvette, as well outside it (up to sensor photodiode line, on recorded). For first time, an equation was derived study change cell, and b...

This paper deals with the use of trigonometric splines (also call Schoenberg’s polynomials) in order to increasing the performances of a nonlinear closed-loop system. In the first part, it is recalled that for linear systems, the couple ”setting time/overshoot” can be largely improved if a path planning is used instead of a classical step input. The concept of trigonometric splines is then intr...

The paper focuses on the problem of point-to-point trajectory planning for flexible redundant robot manipulators (FRM) in joint space. Compared with irredundant flexible manipulators, a FRM possesses additional possibilities during point-to-point trajectory planning due to its kinematics redundancy. A trajectory planning method to minimize vibration and/or executing time of a point-to-point mot...

In this paper, we study the closed pattern mining problem for a class of spatio-temporal patterns, called closed (k, r)-flock patterns in trajectory databases. A (k, r)-flock pattern (Gudmundsson and van Kreveld, 2006) represents a set of moving objects traveling close each other within radius r during time period of length k. Based on the notion of the envelope for a flock pattern, we introduc...

This paper is devoted to the study of the flatness property of linear time-invariant differential systems of fractional systems. We give two characterizations of fractionally flat outputs and algorithms to compute them. We then present an application to a two dimensional thermal system that we approximate by a fractional model of order 1 2 , that is fractionally flat. Trajectory planning of the...

We consider the problem of planning under observation and motion uncertainty for nonlinear robotics systems. Determining the optimal solution to this problem, generally formulated as a Partially Observed Markov Decision Process (POMDP), is computationally intractable. We propose a Trajectory-optimized Linear Quadratic Gaussian (T-LQG) approach that leads to quantifiably near-optimal solutions f...

The central trajectory of a linear program consists of the set of optimal solutions x(Mu) and (y(t), s(j)) to the logarithmic barrier problems: (P,(d)): min{cT x + --p(x) : Ax = b, x > 0), (D,(d)): maxb T y /p(s) : ATy + s = c,s > 0), where p(ul) -= ln(u), is the logarithmic barrier function, d = (A, b, c) is a data instance in the space of all data D = {(A, b, c) : A C Wmn, b E Rm, c E fn), an...

With the ubiquitous use of location enabled devices, pattern discovery in trajectories has been receiving increasing interest. Among such patterns, we have queries related to how groups of moving objects behave over time such as discovering flocks. A flock pattern is defined as a set of moving objects that move within a predefined distance to each other for a given continuous period of time. A ...