Optimization approaches for robot trajectory planning

<p>This paper presents a methodology to evaluate transversal competences in the context of the subject “Design and application of industrial equipment” in the Master's Degree in Industrial Engineering at Universitat Politècnica de València (Spain). The competency-based education implies several activities, such as a project-based learning that must be eventually defended in public by students in groups. Evidence of learning is collected based on a well-defined system of rubrics and indicators, which are known in advance by students. We have observed that the use of such techniques improves the students learning on the contents of the subject, allows to acquire the transversal competences related to the analysis and problem solving, and enhances the ability to understand concepts intuitively. Moreover, results clearly show a positive influence on the use of such tools for improving the professional and ethical commitment to the issues raised.</p>

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“… Grade between 0.00 and 0.99: Not reached (D) 2018;2020a;Rubio et al, 2015;2016;and Valero et al, 2017;…”

Section: Number Of Acts Weight (%)mentioning

confidence: 99%

Methodology to evaluate transversal competences in the master's degree in industrial engineering based on a system of rubrics and indicators

Llopis-Albert

Rubio

2021

Mult.J.Edu.Soc.Tec.Sci.

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“…Introduction to modeling in kinematics and machine dynamics. This subject is taught by professors Rubio and Llopis-Albert, which have an extensive experience in this field, as shown for instance in Llopis-Albert et al, 2015;2018;2020a;Rubio et al, 2015;2016;and Valero et al, 2017; As stated, the CT-03 is implemented using technical computing systems, while it provides a way to develop students' engineering capabilities. The software used to work this transversal competence is Wolfram Mathematica, which is a technical computing system; and SolidWorks, which is a solid modeling computer-aided design (CAD) and computer-aided engineering (CAE) computer program.…”

Section: Evaluation Systems Of Ctmentioning

confidence: 99%

Use of technical computing systems in the context of engineering problems

Llopis-Albert

Rubio

Valle-Falcones

et al. 2020

Mult.J.Edu.Soc.Tec.Sci.

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<p>This paper presents a teaching innovation project based on applying technical computing systems as a resource to improve learning in the classroom and as a way of evaluating transversal competences (TC). By these means, students analyze complex kinematic and dynamic mechanical systems in the context of the subject Dynamics of Mechanical Systems of the Master’s Degree in Mechatronics Engineering at Universitat Politècnica de València (Spain). We have observed that the use of such tools improves the students learning on the contents of the subject, allows to acquire the transversal competence related to the analysis and problem solving, and enhances the ability to understand concepts intuitively. Furthermore, results clearly show a positive influence on the use of such tools for improving the professional and ethical commitment to the issues raised.</p>

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“…Llopis-Albert et al [32] presented a comparison of the major search based algorithms for trajectory planning. Search algorithms based on multidimensional spaces are mainly tied to the possibility given by a certain robot model of doing the main calculations in its configuration space, also called joint space, with many degrees of freedom (DOF), e.g.…”

Section: Additional Literature Reviewmentioning

confidence: 99%

Artificial Intelligence Control in 4D Cylindrical Space for Industrial Robotic Applications

Giorgio

Wang

2020

IEEE Access

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This paper argues that an efficient artificial intelligence control algorithm needs the built-in symmetries of an industrial robot manipulator to be further characterized and exploited. The product of this enhancement is a four-dimensional (4D) discrete cylindrical grid space that can directly replace complex robot models. A* is chosen for its wide use among such algorithms to study the advantages and disadvantages of steering the robot manipulator within the 4D cylindrical discrete grid. The study shows that this approach makes it possible to control a robot without any specific knowledge of the robot kinematic and dynamic models at planning and execution time. In fact, the robot joint positions for each grid cell are pre-calculated and stored as knowledge, then quickly retrieved by the pathfinding algorithm when needed. The 4D cylindrical discrete space has both the advantages of the configuration space and the three-dimensional Cartesian workspace of the robot. Since path optimization is the core of any search algorithms, including A*, the 4D cylindrical grid provides for a search space that can embed further knowledge in form of cell properties, including the presence of obstacles and volumetric occupancy of the entire industrial robot body for obstacle avoidance applications. The main trade-off is between a limited capacity for pre-computed grid knowledge and the path search speed. This innovative approach encourages the use of search algorithms for industrial robotic applications, opens up to the study of other robot symmetries present in different robot models and lays a foundation for the application of dynamic obstacle avoidance algorithms.

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Optimization approaches for robot trajectory planning

Cited by 24 publications

References 51 publications

Methodology to evaluate transversal competences in the master's degree in industrial engineering based on a system of rubrics and indicators

Methodology to evaluate transversal competences in the master's degree in industrial engineering based on a system of rubrics and indicators

Use of technical computing systems in the context of engineering problems

Artificial Intelligence Control in 4D Cylindrical Space for Industrial Robotic Applications

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