Accuracy and energy consumption are key aspects to be considered when using serial manipulators in industrial environment. Affordable operational and maintenance costs are very important issues for automated processes. However, high performance robots also require increasing precision when performing sophisticated tasks. In this paper a method for optimal path planning and task adjustment of co...

Collision detection for articulated robots along possible trajectories is a basic requirement for path and motion planning systems. We present an approach using static collision tests at selected locations merely to check complete trajectories. This is done by using slightly expanded geometry models. We develop a simple formula for estimating the distance between two positions of a link within ...

In this paper, we consider a new method for trajectory planning of two mobile manipulators for cooperative transportation of a rigid body. The method consists of constructing a graph on a portion of the configuration space that satisfies collision and closure constraints and searching the graph for the shortest possible path using an optimal graph search algorithm. Then, a sequence of time-opti...

Collision detection for articulated robots along pos sible trajectories is a basic requirement for path and motion planning systems We present an approach using static collision tests at selected locations merely to check complete trajectories This is done by using slightly expanded geometry models We develop a sim ple formula for estimating the distance between two po sitions of a link within ...

This paper presents a method for determining smooth and time-optimal path-constrained trajectories for robotic manipulators. The desired smoothness of the trajectory is imposed through limits on the actuator jerks. The third derivative of the path parameter with respect to time, the pseudo-jerk, is the controlled input. The limits on the actuator torques translate into state-dependent limits on...

This paper is concerned with path planning of highly redundant manipulators, which are particularly well suited for flexible manufacturing. We envision that highly redundant manipulators will be composed of a set of standard modules. In order to find the optimal configuration of modules, one has to perform a discrete search on possible assemblies of modules combined with a continuous search of ...

this paper presents optimal control method to path planning of mobile robots with flexible joints. dynamic equations are derived and additional kinematic constraints are used to solve the extra dofs arose from base mobility. then with modeling the elasticity at each joint as a linear torsinal spring, the set of equations are formed. the hamiltonian function is formed and the necessary condition...

Obstacle avoidance and robot path planning problems have gained sufficient research attention due to its indispensable application demand in manufacturing vis-à-vis material handling sector, such as picking-andplacing an object, loading / unloading a component to /from a machine or storage bins. Visibility map in the configuration space (c-space) has become reasonably instrumental towards solvi...

Path planning for an autonomous vehicle can occur at two different times. First, path planning might occur at mission specification time when the vehicle’s initial path is determined and used to specify other mission factors. This task makes use of some model of the environment in planning a path that will avoid obstacles and hazardous areas. A second type of path planning might occur while the...