the trajectory planning, which is known as a movement from starting to end point by satisfying the constraints along the path is an essential part of robot motion planning. a common way to create trajectories is to deal with polynomials which have independent coefficients. this paper presents a trajectory formulation as well as a procedure to arrange the suitable trajectories for applications. ...

The trajectory planning, which is known as a movement from starting to end point by satisfying the constraints along the path is an essential part of robot motion planning. A common way to create trajectories is to deal with polynomials which have independent coefficients. This paper presents a trajectory formulation as well as a procedure to arrange the suitable trajectories for applications. ...

this paper aims to discuss the requirements of safe and smooth trajectory planning of transporter mobile robots to perform non-prehensile object manipulation task. in non-prehensile approach, the robot and the object must keep their grasp-less contact during manipulation task. to this end, dynamic grasp concept is employed for a box manipulation task and corresponding conditions are obtained an...

This paper aims to discuss the requirements of safe and smooth trajectory planning of transporter mobile robots to perform non-prehensile object manipulation task. In non-prehensile approach, the robot and the object must keep their grasp-less contact during manipulation task. To this end, dynamic grasp concept is employed for a box manipulation task and corresponding conditions are obtained an...

A modification of the Adomian decomposition method applied to systems of linear/nonlinear ordinary and fractional differential equations, which yields a series solution with accelerated convergence, has been presented. Illustrative examples have been given. 2006 Elsevier Inc. All rights reserved.

Time-optimal trajectories with bounded velocities and accelerations are known to be parabolic, i.e., piecewise constant in acceleration. An important characteristic of this class of trajectories is the distribution of the switch points, i.e., the time instants when the acceleration of any robot joint changes. When integrating parabolic trajectory generation into a motion planning pipeline, espe...

Despite the importance of pointing-device movement to efficiency in interfaces, little is known on how target shape impacts speed, acceleration, and other kinematic properties of motion. In this paper, we examine which kinematic characteristics of motion are impacted by amplitude and directional target constraints in Fitts-style pointing tasks. Our results show that instantaneous speed, acceler...

This paper presents a novel MEMS-based inertial microswitch design with multi-directional compact constraint structures for improving the shock-resistibility. Its shock-resistibility in the reverse-sensitive direction to ultra-high g acceleration (~hunderds of thousands) is simulated and analyzed. The dynamic response process indicates that in the designed inertial microswitch the proof mass we...

A near-optimal midcourse trajectory shaping guidance algorithm is proposed for both air and ballistic target engagement mission attributes for generic long range interceptor missile. This guidance methodology is based on the maximum final velocity as the objective function and maximum permissible flight altitude as the in-flight state constraint as well as the head-on orientation as the termina...