Acceleration-level trajectory planning for a dual-arm space robot

Xie, Kedi; Lan, Weiyao

doi:10.1016/j.ifacol.2019.12.415

Cited by 11 publications

(4 citation statements)

References 18 publications

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“…Point cloud data acquisition 14 is carried out to reduce the blind area and restore the whole structure of the target object in 3D. If the 3D laser scanner is used for acquisition, because the position coordinates of the distance sensor used are different in each acquisition, the coordinate system of the obtained point cloud is also different.…”

Section: Autonomous Trajectory Sensing Methods Of Multi‐degree‐of‐fre...mentioning

confidence: 99%

“…Therefore, this paper constructs an environment model of a multi-degree-of-freedom industrial robot arm based on 3D laser scanning point cloud data by the Iterative Closest Point (ICP) algorithm. Point cloud data acquisition 14 is carried out to reduce the blind area and restore the whole structure of the target object in 3D. If the 3D laser scanner is used for acquisition, because the position coordinates of the distance sensor used are different in each acquisition, the coordinate system of the obtained point cloud is also different.…”

Section: Environment Modelingmentioning

confidence: 99%

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Autonomous perception method of multi‐degree‐of‐freedom industrial robot arm trajectory

Qian

2023

Adv Control Appl

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In this study, a novel autonomous sensing method of multi‐degree‐of‐freedom industrial robot arm trajectory is proposed. The research takes the distance sensor to collect environmental data, and takes the point cloud data scanned by 3D laser as the basis. The environment model of multi‐degree‐of‐freedom industrial robotic arm is established by Iterative Closest Point (ICP). Then the target object is calibrated by binocular imaging technology. Subsequently, angle of each joint of multi‐degree‐of‐freedom industrial robotic arm is calculated to determine the spatial attitude of the robotic arm. In addition, 3D LiDAR is installed at the end of the robotic arm, and the end trajectory of multi‐degree‐of‐freedom industrial robotic arm is sensed autonomously by using the optimal function. The proposed method has advantages of high accuracy and short sensing time in autonomous sensing of multi‐degree‐of‐freedom industrial robot arm trajectory.

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Section: Autonomous Trajectory Sensing Methods Of Multi‐degree‐of‐fre...mentioning

confidence: 99%

Section: Environment Modelingmentioning

confidence: 99%

Autonomous perception method of multi‐degree‐of‐freedom industrial robot arm trajectory

Qian

2023

Adv Control Appl

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“…When planning a trajectory for a space manipulator, several kinds of functions are implemented to describe the trajectory, such as spline function 7 and the polynomial function. 8 Besides, in addition to the tradition trajectory planning algorithms for generating the continuous and smoothness trajectory, 9 more and more trajectory planning algorithms have been proposed to plan the trajectory with the requirements of the acceleration constrain, 10 the optimal time duration, 11 the minimum energy consumption 12 or the flexible vibration reduction. 13 On the other hand, path planning provides manipulators with serial locations from an initial position to a goal position on the basis of some demands, such as the collision avoidance.…”

Section: Introductionmentioning

confidence: 99%

Detumbling motion planning for the space manipulator with grasped targets and flexible appendages in the post-capturing phase

Zhan

Jin

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part G:

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This paper proposes a detumbling motion planning algorithm for free-flying space manipulator with a grasped tumbling target in the post-capturing phase. This algorithm can not only collision-freely guide the space manipulator and the target to terminal stationary states but also suppress the residual vibration of the flexible appendage on the space manipulator. First, considering the avoidances of self-collisions and motion singularities, a smooth detumbling path is planned for the space manipulator by a proposed smoothing rapid random tree star algorithm (SM-RRT*). Second, a quintic polynomial function is implemented to generate a continuous detumbling trajectory along the detumbling path. Then, with the object of minimizing the residual flexible vibrations and the constrains of joint acceleration limits, an optimization model is established to refine the detumbling trajectory. Finally, the optimization model is solved by an improved particle swarm optimization algorithm (PSO), where a potential field term is included in the generation of the particle velocity to enhance the computational efficiency. Simulation results validate the effectiveness of the proposed detumbling motion planning algorithm.

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“…And the trajectory smoothness and stability was improved. Xie et al [25] transformed the joint constraint into quadratic programming and planned the acceleration-level trajectory of the manipulator joint with the improved damped least-squares (DLS). Cui et al [26] put forward a trajectory planning method based on the PSO with quintic polynomials interpolation.…”

mentioning

confidence: 99%

Joint Trajectory Prediction of Multi-Linkage Robot Based on Graph Convolutional Network

Yang

2020

IEEE Access

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Acceleration-level trajectory planning for a dual-arm space robot

Cited by 11 publications

References 18 publications

Autonomous perception method of multi‐degree‐of‐freedom industrial robot arm trajectory

Autonomous perception method of multi‐degree‐of‐freedom industrial robot arm trajectory

Detumbling motion planning for the space manipulator with grasped targets and flexible appendages in the post-capturing phase

Joint Trajectory Prediction of Multi-Linkage Robot Based on Graph Convolutional Network

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