Path Planning for Grasping Tasks

Carvalho, João Carlos Mendes; Saramago, Sezimária de Fátima Pereira

doi:10.1007/978-1-4471-4664-3_12

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The Mathematical Description Of Trajectory and Obstacle1

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2014

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(2 citation statements)

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“…Trajectory Planning with Quintic B-Spline. Considering the high degree of smoothness and ease of implementation, we make the path using quintic B-spline function [8] to construct the path, given only the initial and final points, let a uniform quintic B-spline defined as a polynomial fifth degree function (t) with the following form:…”

Section: The Mathematical Description Of Trajectory and Obstaclementioning

confidence: 99%

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An Innovative Motion Planning for 4-DOF PKM

Nan

Tang

Song

2014

AMM

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This paper presents an innovative motion planning algorithm for pick and place operations in the industry. The new technique is to seek optimal dynamics pattern for PKM(parallel kinematic manipulator), this is achieved by two parts: First, to achieve optimal path planning, a center sphere method based on virtual obstacle path planning method is proposed to solve such path planning with Particle Swarm Optimization (PSO); Second, to enhance the efficiency of the robot, time optimal trajectory planning is finished with respect to robotic physical constraints. Then, the method applied to a 4-DOF PKM is tested by numerical simulations, some examples are presented making comparisons on same tasks assigned by different sphere radius, the simulation results show the efficiency and the effectiveness of the proposed approach to determine the optimal motion pattern for 4-DOF PKM in obstacle-free workspace.

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Section: The Mathematical Description Of Trajectory and Obstaclementioning

confidence: 99%

“…Based on the Equations ( 6), ( 7) and ( 8), the obstacle avoidance problem is turning into an optimization problem. The penalty function (8) is used to constitute one of the multi-objective optimization function in the following paragraphs.…”

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confidence: 99%