Trajectory planning

G. Ma, H. Duan, S. Liu, Improved ant colony algorithm for global optimal trajectory planning of UAV under complex environment. Int. J. Comput. Sci. Appl. 4-3, 57-68 (2007)... 

Sorrentino L, Polini W, Carrino L, Anamateros E and Paris G (2008) Robotized filament winding of full section parts Comparison between two winding trajectories planning rules, Adv Compos Mater 17 1-23. 

Safe Ship Trajectory Planning Based on the Ant Algorithm Development of the Method... 

Ship Evolutionary Trajectory Planning Method with Application of Polynomial Interpolation... 

ABSTRACT Paper presents the apphcation of evolutionary algorithms and polynomial interpolation in ship evolutionary trajectory planning method. Evolutionary algorithms allows to find a collision Iree trajectory in real time, while polynomial interpolation allows to model smooth trajectory which keeps continuity of velocity and acceleration values along path. Comhination of this two methods allows to find trajectory, which under some assumptions, can mimic real movement of the vessel. Paper presents the description of proposed method with simulation tests for sample coUision situations at sea. 

Smierzchalski R., Ships domains as collision risk at sea in the evolutionary method of trajectory planning, IEEE Transaction on Evolutionary Computation, vol.4, 2004,... 

Pacheco, L., Luo, N. (2007). Trajectory planning with a control horizon based on a narrow local grid perception A practical approach for WMR with monocular visual data. In Lecture Notes in Control and Information Sciences. Berlin, Germany Springer-Verlag. 

The tasks carried out for the mobile robots are based on the independent movement of each degree of freedom, coordinated from a trajectory plan based on a kinematic model. In the most of the cases, task programming is planned with anticipation and a map of the environment is loaded into the robot memory board. The mobile robot accomplishes the trajectory with a sequence of independent movements carried out by each axle until reaching the desired final position. From the knowledge of these articulated positions, a reference generator (speed profile) can be easily implemented based on the kinematic characteristics of each joint (Melo, 2005). 

This section presents the main characteristics of a mobile robotic system simulator. It is implemented from the kinematic and dynamic models of the mechanieal drive systems of the robotic axles to simulate different control techniques in the field of mobile robotics, allowing researchers to deepen the concepts of navigation systems, trajectory planning, and embedded control systems. This simulator, designed in a modular and open architecture, allows persons to directly apply concepts... 

Trajectory Planning for Obstacle-Avoided Assembly of Planar Printed Circuit Boards... 

A systematic approach for generating optimal process plans for robotic assembly is presented. A CAPP system is proposed which uses a feature database and a connectivity database to generate connectivity graphs and calculate the final position for every part forming a product. It also identifies sub-assemblies, generates feasible assembly sequences and finally performs trajectory planning for the robot arm to carry out the assembly. 

In recent years, industrial robots have been used in a variety of manufacturing tasks for the flexibility the robots provide and to reduce the risk of human operators to get exposed to hazardous materials. One of the major applications of industrial robot is assembly. When a robot is used to perform the assembly task, more information is required in the proces plan than that for manual assembly. Information ought to be provided to support robot arm trajectory planning in order to carry out the assembly. The trajectory plan would instruct the robot where to place a part, in what orientation and through what path. Therefore, two more classes of information become essential. They are the final position and orientation of each component part with respect to the global coordinate system, and the trajectory paths through which the robot assembles the parts without colliding into... 

Most assembly work reqiures a revolute robot. This class of robots has most flexibility in terms of posing and accessing capabilities. The cost of gaining such flexibility is the nonlinear characteristics of robot trajectory planning and a highly coupled robot structure. Finding a collision-free, optimal assembly path is not easy. Two approaches are proposed ... 

In the first paper, an approximate path planning algorithm first navigates a point robot in polygonal terrains and returns paths with suboptimal lengths. An innovative four-step trajectory planning algorithm is developed in the second paper for a 3-axis articulated robot in which precise joint-level control can be easily achieved, major mechanical vibration can be avoided, and a well tuned speed can be used to maintain the efficiency. Inverse and forward kinematics for the Stewart Platform-based Manipulator are presented in the third paper. 

Bandlimited Trajectory Planning for Continuous Path Industrial Robots... 

Trajectory Planning and Kinematic Control of a Stewart Platform-Based Manipulator... 

Figure 3 Trajectory planning and control of the robot manipulator.

Two trajectory planning schemes developed to control the motion of the robot manipulator gripper are presented in this section. The first scheme is designed for tracking straight lines while the second for arbitrary paths. 

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