Time Optimal Path Planning For Robotic Manipulators In The Presence Of Obstacles With Actuator Gripper And Payload Constraints PDF Download
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Author | : Z. Shiller |
Publisher | : |
Total Pages | : |
Release | : 1987 |
Genre | : |
ISBN | : |
Download Time Optimal Path Planning for Robotic Manipulators in the Presence of Obstacles, with Actuator, Gripper and Payload Constraints Book in PDF, ePub and Kindle
Author | : Kevin M. Lynch |
Publisher | : Cambridge University Press |
Total Pages | : 545 |
Release | : 2017-05-25 |
Genre | : Computers |
ISBN | : 1107156300 |
Download Modern Robotics Book in PDF, ePub and Kindle
A modern and unified treatment of the mechanics, planning, and control of robots, suitable for a first course in robotics.
Author | : Ljubo Vlacic |
Publisher | : Butterworth-Heinemann |
Total Pages | : 520 |
Release | : 2001 |
Genre | : Computers |
ISBN | : 0750650931 |
Download Intelligent Vehicle Technologies Book in PDF, ePub and Kindle
An exploration of the growing field of intelligent technologies, from intelligent control systems to intelligent sensors. Systems such as in-car navigation devices and cruise control are already being introduced into modern vehicles, but manufacturers are now racing to develop systems such as smart cruise control, on-vehicle driver information systems, collision avoidance systems, vision enhancement and roadworthiness diagnostics systems. There are practical examples and illustrations throughout the book.
Author | : |
Publisher | : |
Total Pages | : 832 |
Release | : 1996 |
Genre | : Automatic control |
ISBN | : |
Download Journal of Dynamic Systems, Measurement, and Control Book in PDF, ePub and Kindle
Publishes theoretical and applied original papers in dynamic systems. Theoretical papers present new theoretical developments and knowledge for controls of dynamical systems together with clear engineering motivation for the new theory. Applied papers include modeling, simulation, and corroboration of theory with emphasis on demonstrated practicality.
Author | : Georges Giralt |
Publisher | : Springer Science & Business Media |
Total Pages | : 650 |
Release | : 2012-12-06 |
Genre | : Technology & Engineering |
ISBN | : 1447110218 |
Download Robotics Research Book in PDF, ePub and Kindle
This publication covers all the topics which are relevant to Advanced Robotics today, ranging from Systems Design to Reasoning and Planning. It is based on the Seventh International Symposium on Robotics Research held in Germany on October, 21 - 24th, 1995. The papers were written by specialists in the field from the United States, Europe, Japan, Australia and Canada. The editors, who also chaired this symposium, present the latest research results as well as new approaches to long standing problems. Robotics Research is a contribution to the emerging concepts, methods and tools that shape Robotics. The papers range from pure research reports to application-oriented studies. The topics covered include: manipulation, control, virtual reality, motion planning, 3D vision and industrial systems' issues.
Author | : Margaret Ann Norris |
Publisher | : |
Total Pages | : |
Release | : 1985 |
Genre | : |
ISBN | : |
Download Spatially Optimal Path Planning for Robotic Manipulators with Obstacle Avoidance and Joint Motion Constraints Book in PDF, ePub and Kindle
Author | : |
Publisher | : |
Total Pages | : 786 |
Release | : 1990 |
Genre | : Automatic control |
ISBN | : |
Download Proceedings 1990 IEEE International Conference on Robotics and Automation Book in PDF, ePub and Kindle
Author | : David Wilson Miles |
Publisher | : |
Total Pages | : 164 |
Release | : 1997 |
Genre | : Robots |
ISBN | : |
Download Real-time Dynamic Trajectory Optimization with Application to Free-flying Space Robots Book in PDF, ePub and Kindle
Author | : |
Publisher | : |
Total Pages | : 764 |
Release | : 1996 |
Genre | : Automatic control |
ISBN | : |
Download Proceedings of the ... IEEE International Conference on Control Applications Book in PDF, ePub and Kindle
Author | : Joseph A. Cascio |
Publisher | : |
Total Pages | : 103 |
Release | : 2008 |
Genre | : |
ISBN | : |
Download Optimal Path Planning for Multi-arm, Multi-link Robotic Manipulators Book in PDF, ePub and Kindle
This work investigates the problem of robotic arm control with the goal of achieving given performance requirements by solving for the optimal joint trajectories and corresponding controls for tasks, such as point-to-point positioning. The resulting optimal control problem is highly nonlinear and constrained due to the nonlinearities in the robotic arm dynamics and kinodynamic constraints including limits on joint velocities and actuator torques. This thesis illustrates the applicability of pseudospectral methods to solve the optimal path planning problem for a system of multi-link, multi-degree of freedom robotic arms. The optimal control problem is defined in standard form and solved using the software package DIDO. Pontryagin's Minimum Principle is used to verify that the proposed solution satisfies the necessary conditions for optimality. A particularly challenging aspect that is explored is the optimal motion of multiple arms conducting independent tasks with the risk of collision. Collision avoidance can be achieved by modeling appropriate path constraints. The processes for optimal trajectory planning are developed for a single two degree-of-freedom manipulator conducting point-to-point positioning and extended to include dual three degree-of-freedom manipulator maneuvers employing collision avoidance. The results demonstrate the suitability of pseudospectral techniques to solving the minimum time and minimum control maneuvers for robotic arms. The employment of collision avoidance techniques will facilitate continued research in autonomous robotic motion planning using optimal control criteria in multiple arm systems.