On-line minimum-time trajectory planning for industrial manipulators

Kim, Joon‐Young; Kim, Dong‐Hyeok; Kim, Sung‐Rak

doi:10.1109/iccas.2007.4406875

Cited by 3 publications

(3 citation statements)

References 8 publications

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“…The minimum-distance criterion to which the maximum velocity can be applied is obtained through the condition that there is no constant-speed section and only acceleration and deceleration sections exist. Using the given maximum velocity, acceleration, jerk ( j c ), t b and dist min can be obtained, as in Equations ( 10) and (11),…”

Section: Modified Lspb-based Trajectory Planningmentioning

confidence: 99%

“…Therefore, the Linear Segment with Parabolic Blends (LSPB) was applied as a method to optimize the robot's movement. The LSPB algorithm was used in path planning for an industrial robot, such as a method of the typical on-line minimum time trajectory planning for robot manipulators [11], through industrial robot manipulators, and applying LSPB can maximize the time trajectory and generation [12].…”

Section: Introductionmentioning

confidence: 99%

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Efficient Navigation and Motion Control for Autonomous Forklifts in Smart Warehouses: LSPB Trajectory Planning and MPC Implementation

Vorasawad,

Park,

Kim

2023

Machines

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The rise of smart factories and warehouses has ushered in an era of intelligent manufacturing, with autonomous robots playing a pivotal role. This study focuses on improving the navigation and control of autonomous forklifts in warehouse environments. It introduces an innovative approach that combines a modified Linear Segment with Parabolic Blends (LSPB) trajectory planning with Model Predictive Control (MPC) to ensure efficient and secure robot movement. To validate the performance of our proposed path-planning method, MATLAB-based simulations were conducted in various scenarios, including rectangular and warehouse-like environments, to demonstrate the feasibility and effectiveness of the proposed method. The results demonstrated the feasibility of employing Mecanum wheel-based robots in automated warehouses. Also, to show the superiority of the proposed control algorithm performance, the navigation results were compared with the performance of a system using the PID control as a lower-level controller. By offering an optimized path-planning approach, our study enhances the operational efficiency and effectiveness of Mecanum wheel robots in real-world applications such as automated warehousing systems.

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Section: Modified Lspb-based Trajectory Planningmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Efficient Navigation and Motion Control for Autonomous Forklifts in Smart Warehouses: LSPB Trajectory Planning and MPC Implementation

Vorasawad,

Park,

Kim

2023

Machines

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“…The work presented in [4] proposed a modified LSPB that is engaged with Particle Swarm Optimization to generate smooth trajectories that pass through specific path points while satisfying velocity and acceleration constraints of physical mechanical robot manipulators. Another approach to address the shortcoming of the LSPB was to take the manipulator dynamics into consideration [5]. In their proposed method, they performed the dynamic calculation only at certain points on the given path, which is effectively utilized to determine the kinematic constraints while minimizing the computational burden by solving only at dynamic edge points on the given path.…”

Section: Introductionmentioning

confidence: 99%

Development of a Cartesian Robot With Image Processing and Grasp Detection

Saadeh,

Koutsougeras

2023

10th ECCOMAS Thematic Conference on Smart Structures and Materials

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This work presents a Mechatronics system of a Cartesian robot that can detect, pick, and sort items. Industry 4.0 paved the way for the tedious and repetitive tasks to be automated and replaced by robots to ensure consistency, speed, and quality control maintenance. Typical industrial systems are expensive and proprietary in nature which limits their utility for educational and training purposes. In this work, we present a design of a Cartesian Robot which incorporates a variety of standard systems to implement a miniature industrial robotic setup. The systems include machine vision, trajectory planning, gripping mechanism with force limiting sensor, and hardware interfacing and communication between different platforms. The work reported here is a roadmap for building a Cartesian robot that is an alternative to standard proprietary industrial robots and which incorporates trajectory planning, vision, force limitation, and communication. This document describes the design with its major subsystems. The Cartesian robot is capable of planar motion in the X and Y dimensions, and a vertical linear motion to pick and place objects. An overhead camera for object and color detection takes still images and processes them on a computer that is interfaced with the control board. A calibration method for the camera is described using red, green and blue cubes randomly placed on the workspace. Joints follow a Linear Segment with Parabolic Blend (LSPB) trajectory to achieve the joint motions. A remote host computer employs code that detects the center and the corners of each cube to find the exact location and the orientation of each cube. It also maps a suitable route for picking and placing these cubes from their current locations to the destinations (the sorting bins). The end effector consists of two servo motors, one to orientate the end effector and the other to close and open the gripper. To achieve a controlled gripping force on the cubes, a force sensing resistor (which changes resistance according to pressure applied at its surface) is embedded within the gripper fingers. Preliminary results show that the system performed the required task and was able to follow the planned route successfully. The description is written for a wide technical audience but in sufficient detail for reproduction.

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Neutrosophic Theory Applied in the Multi Objectives Optimization of the Robot’s Joints Accelerations with the Virtual LabVIEW Instrumentation

Olaru¹,

Olaru²,

Mihai³

et al. 2020

IJMO

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One of the most important problem to solve in the robots Kinematics and Dynamics is analyze of the joint's angular and linear accelerations. Because the movements of the robot's bodies going in the 3D space, the mathematical algorithm must be written in the complex matrix form. The paper show how some cases of the trapezoidal relatives' velocities characteristics in a joints determine the variation of the acceleration's vectors in the 3D space. The maximal values of these variations of the angular and linear accelerations influence the variation of the moments and forces. The analyze was made by using the Neutrosophic theory and vitual LabVIEW instrumentation. In a literature are described some methods of the assisted analyze of the acceleration without show the used mathematical model, without one critical analyze of the cases that must be avoid and finally without some conclusions for the researchers. The paper shown all LabVIEW virtual instruments (VI) used for this assisted research. By solving the assisted research of the acceleration will be open the way to the assisted research of the robots' dynamic behavior, to choose the optimal constructive and functional parameters (dimensions of the bodies, simultaneously, successive or complex configurations of the movements in the robot's joints, optimal values of the constant relative joint's velocities, etc.) of the robots to obtain the minimum variation of the forces and moments. The method that was shown in the paper solves one small part of the complex problems of the robot's kinematics and dynamics.

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On-line minimum-time trajectory planning for industrial manipulators

Cited by 3 publications

References 8 publications

Efficient Navigation and Motion Control for Autonomous Forklifts in Smart Warehouses: LSPB Trajectory Planning and MPC Implementation

Efficient Navigation and Motion Control for Autonomous Forklifts in Smart Warehouses: LSPB Trajectory Planning and MPC Implementation

Development of a Cartesian Robot With Image Processing and Grasp Detection

Neutrosophic Theory Applied in the Multi Objectives Optimization of the Robot’s Joints Accelerations with the Virtual LabVIEW Instrumentation

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