Energy-optimal trajectory generation for robot manipulators via Hamilton-Jacobi theory

Chen, Dijian; Zhang, Xiaodong; Lai, Zhifa

doi:10.1109/urai.2016.7734063

Cited by 6 publications

(2 citation statements)

References 18 publications

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“…Obviously, there is need to partition the movement data collected from patients in a way that is intuitive and commensurate with how the task both performed (by the patient) and observed (by the clinician); a substantial portion of the robot's utility is in providing accurate quantitative support to guiding therapy in real-time and supporting offline analysis. Moreover, considering that in adaptive robotics, early-session data are used to train the robot's force-impedance settings for optimized re-training (Patton and Mussa-Ivaldi, 2004;Xu et al, 2011;Song et al, 2015), the ongoing inquiry into movement decomposition (modeling the speed profile as a series of log-normal curves) (Rohrer et al, 2002;Dipietro et al, 2009;Balasubramanian et al, 2012Balasubramanian et al, , 2015, or the robotic manipulandums prevalent in industrial applications (Gao and Zhang, 2015;Chen et al, 2016;He et al, 2017). These arenas are just a few examples of where boundary conditions are critically important parameters.…”

Section: Importance Of the Problemmentioning

confidence: 99%

A Partitioning Algorithm for Extracting Movement Epochs from Robot-Derived Kinematic Data

et al. 2017

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Point-to-point exercising of the upper-limb, as elicited through the presentation of visual targets on a computer screen, is a ubiquitous paradigm in the robot-assisted rehabilitation of motor-impaired individuals. Kinematic data collected from the robot's sensors can be used to assess motor function; these data allow objective quantification of motor performance, an approach that shows promise both for guiding therapy and documenting patient progress. It is imperative that these datasets be fully understood and that tools be continually developed to support analysis and proper interpretation of robot-generated data. It is our experience that data collected from kinematic robots and partitioned according to target achievement may be prone to errors in analysis and interpretation because the movements of highly spastic individuals rarely stop within the target. Here, we propose that it is preferable to partition serial movement data based on local minima in velocity rather than target achievement; this design reflects the convention that movement epochs start and end at low or zero velocity, an assumption that is prevalent even in severely impaired individuals. Using a commercially available robot (MIT-Manus, Interactive Motion Technologies), we recorded movements from 16 moderate to severely impaired chronic stroke patients. Data partitioned according to target presentation typically interrupted movements in mid-motion: velocity at file start was 32.6 ± 26.4% of the overall velocity range. By re-apportioning, we obtained velocity at file start of 7.4 ± 9.5% of total range. Across 3,200 movements, 12.4 ± 10.4% of data points were re-allocated on average. Thus, our routine is capable of re-partitioning to more accurately reflect observed behavior. Our study is thus the first to identify and propose a solution to the problem of high relevance to the community of robot-aided rehabilitation specialists, i.e., suboptimal partitioning according to target achievement. Through the algorithm described in this paper, we were able to re-partition the data so that movement epochs were properly demarcated at velocity minima, thus adhering to the fundamental assumptions of human motor behavior and facilitating analysis of patient performance on a per-movement basis.

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Section: Importance Of the Problemmentioning

confidence: 99%

A Partitioning Algorithm for Extracting Movement Epochs from Robot-Derived Kinematic Data

et al. 2017

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“…1 Chen et al presented a method based on Hamilton–Jacobi theory for computing energy-optimal trajectories of a two-link planar manipulator. 2 To optimize robot path planning for welding complex joints, Fang et al selected solutions that produce minimum joint movement. 3 Although these methods are quite effective in acquiring improved trajectories, they are not computationally practical and cannot be used for complex nonlinear systems.…”

Section: Introductionmentioning

confidence: 99%

Development of kinematic simulation system for high-speed press line automated feeding robot

Zhang

Ding

et al. 2018

International Journal of Advanced Robotic Systems

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High-speed press lines are related to the fierce competition in the automobile industry and rely on continuous high-efficiency automated feeding systems. Kinematic simulation systems have facilitated the improvement of production processes by generating real-time kinematic curves to avoid interference in feeding systems. In this article, a new method based on quintic polynomials in MATLAB and ADAMS is introduced to achieve whole-line planning using a kinematic simulation system for path planning. Furthermore, secondary interface is developed to visualize the kinematic curves and animate the generated whole-line trajectories. The kinematic simulation system was found to improve the efficiency of generating predicted trajectories in joint or Cartesian space and achieved reliable whole-line path planning, including collision inspection and singular point detection, by using parametric modeling and analyzing kinematic curves. Finally, the kinematic simulation system was verified using results of a kinematic analysis and example simulation.

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Straight line generation by a serial two-link manipulator: Design and analysis

Rajan

Yadav

Krishnan

et al. 2017

2017 5th International Conference on Instrumentation, Control, and Automation (ICA)

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Energy-optimal trajectory generation for robot manipulators via Hamilton-Jacobi theory

Cited by 6 publications

References 18 publications

A Partitioning Algorithm for Extracting Movement Epochs from Robot-Derived Kinematic Data

A Partitioning Algorithm for Extracting Movement Epochs from Robot-Derived Kinematic Data

Development of kinematic simulation system for high-speed press line automated feeding robot

Straight line generation by a serial two-link manipulator: Design and analysis

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