Ability of a Robot to Travel Through its Free Work Space in an Environment with Obstacles

Abstract

This article presents a new geometric analysis of the free work space of a robot among obstacles. The free work space (FW) is defined as the set of positions and orientations that the robot's end effector can reach, according to the joint limits and the various obstacles lying in the environment.

Continuous Path Planning of Kinematically Redundant Manipulator using Particle Swarm Optimization

“…To generate the smooth trajectories, there is the requirement of the connectivity among sampling points of the generated trajectories from the initial configuration to the final configuration. The concept of connectivity is one of the important performances of the manipulator motion [15], [16]. Kinematically redundant manipulator has the self-motion capability which has an advantage in finding the proper posture.…”

“…11 shows the result of the fitness value evolution during 100 iterations for the GA, the PSO, and the GWO. The searching area for f is [0,15]. Detail of the path planning results is tabulated in Table II.…”

Increasing the Energy Efficiency in Compressed Air Systems

“…Minimisation of energy consumption is done in most cases up to now, separately for the each subsystem. There are numerous references dealing with trajectory optimisation of industrial robots, influence of the robot velocity on energy efficiency and design of the optimal components layout within the robotic cell (Šešlija, 1988;Tomović et al, 1990;Yoshimura, 2007;Guilbert et al, 2008;Kamrani et al, 2010;Wenger and Chedmail, 1991;Dissanayake and Gal, 1994;Aspragathos and Foussias, 2002).…”

Kinematic Analysis of a New Parallel Machine Tool: The Orthoglide

“…Self collisions may also arise. To cope with the moveability of a manipulator, the connected regions of the Cartesian workspace were defined for serial manipulators (Wenger and Chedmail 1991) and, more recently, for parallel manipulators (Chablat and Wenger 1998). The Cartesian workspace connectivity can be further analysed according to which type of motions should be studied: the n-connectivity is intended to point-to-point motions and the t-connectivity is suitable for continuous trajectory tracking, like in arc-welding or machining.…”