Robot trajectory planning by assigning positions and tangential velocities

Rossi, Cesare; Savino, Sergio

doi:10.1016/j.rcim.2012.04.003

Cited by 47 publications

(21 citation statements)

References 5 publications

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“…Further investigations will essentially concern tests with all the phalanxes instrumented and by adopting a motion planning with the non-conventional techniques shown in (Rossi and Savino 2012). …”

Section: Discussionmentioning

confidence: 99%

Gripping Tests on an Underactuated Self-adapting Hand Prototype

Rossi

Savino

2016

ROMANSY 21 - Robot Design, Dynamics and Control

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Tests on a prototype of an underactuated hand prosthesis, based on differential mechanisms, are described. The main aim was to examine the possibility of achieving a hand prosthesis economic, kinematically simple and easy to control; moreover inelastic tendon are used that allow the adjustment of the gripping force of an object just acting on the pulling force by the only actuator. In the paper the design of the prototype is briefly described and some results of experiments to test the hand suitability and capabilities, are shown

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Section: Discussionmentioning

confidence: 99%

Gripping Tests on an Underactuated Self-adapting Hand Prototype

Rossi

Savino

2016

ROMANSY 21 - Robot Design, Dynamics and Control

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“…In view of this, various curves have been proposed to fit the lane change trajectory, such as circular, harmonic, polynomial and line segments. Rossi et al [14] introduced a geometrical tangent curve to control the lane change trajectory by assigning some waypoints on the path. Vale et al [15] developed a line segment trajectory that took the flexibility of vehicles into account, and provided smooth paths that could maximize the clearance to obstacles.…”

Section: Literature Reviewmentioning

confidence: 99%

Structured trajectory planning of collision-free lane change using the vehicle-driver integration data

Zhang

Yan

2016

Sci. China Technol. Sci.

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In this paper, the structured trajectory planning of lane change in collision-free road environment is studied and validated using the vehicle-driver integration data, and a new trajectory planning model for lane change is proposed based on linear offset and sine function to balance driver comfort and vehicle dynamics. The trajectory curvature of the proposed model is continuous without mutation, and the zero-based curvature at the starting and end points during lane change assures the motion direction of end points in parallel with the lane line. The field experiment are designed to collect the vehicle-driver integration data, such as steering angle, brake pedal angel and accelerator pedal angel. The correction Correlation analysis of lane-changing maneuver and influencing variables is conducted to obtain the significant variables that can be used to calibrate and test the proposed model. The results demonstrate that vehicle velocity and Y-axis acceleration have significant effects on the lane-changing maneuver, so that the model recalibrated by the samples of different velocity ranges and Y-axis accelerations has better fitted performance compared with the model calibrated by the sample trajectory. In addition, the proposed model presents a decreasing tendency of the lane change trajectory fitted MAE with the increase of time span of calibrating samples at the starting stage. intelligent vehicle, lane change, trajectory planning, vehicle-driver integration Citation: Wang J F, Zhang Q, Zhang Z Q, et al. Structured trajectory planning of collision-free lane change using the vehicle-driver integration data. Sci China Tech Sci, 2016, 59: 825−831,

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“…Optimises the Objective Function. The -spline curve is a good curve for trajectory planning, given its advantages of locality, continuity, controllability, zooming ability, and others [15]. Its locality can limit each section of the curve in the range of the limited control points so that changes in the sections of the curve do not affect one another.…”

Section: Expression Of the Fifth-order -Spline Curve Thatmentioning

confidence: 99%

Optimal Trajectory Planning for Glass-Handing Robot Based on Execution Time Acceleration and Jerk

Duan

Zhang

et al. 2016

Journal of Robotics

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This study describes a trajectory planning method based on execution time, acceleration, and jerk to ensure that a glass-handing robot runs smoothly at execution time. The minimised objective function consists of the weighted sum of the square of the integral of the execution time, the integral of the acceleration, and the integral of the jerk, all of which are obtained through the weighted coefficient method. A three-dimensional kinematics model of the glass-handing robot is then established and nonuniform fifth-orderB-splines are used to interpolate its path points. The acceleration and jerk are expressed as functions of time through mathematical simulation. Simulation results show that the designed method for robot trajectory planning not only improves the working efficiency of the glass-handing robot but also ensures that it runs smoothly.

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Robot trajectory planning by assigning positions and tangential velocities

Cited by 47 publications

References 5 publications

Gripping Tests on an Underactuated Self-adapting Hand Prototype

Gripping Tests on an Underactuated Self-adapting Hand Prototype

Structured trajectory planning of collision-free lane change using the vehicle-driver integration data

Optimal Trajectory Planning for Glass-Handing Robot Based on Execution Time Acceleration and Jerk

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