Trajectory planning for mobile manipulators including Manipulability Percentage Index

Akli, Isma

doi:10.1007/s41315-021-00190-3

Cited by 6 publications

(4 citation statements)

References 31 publications

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“…They utilized a constrained SLQ for their work and established experiments for a 26 DoF mobile platform. I. Akli [66] introduced a manipulability percentage index (MPI) in their research to avoid singularity and to place the mobile robot in areas that guarantee regular access.…”

Section: Flexible Navigation Path Planning Localization and Mappingmentioning

confidence: 99%

Mobile Manipulators in Industry 4.0: A Review of Developments for Industrial Applications

Ghodsian,

Benfriha,

Olabi

et al. 2023

Sensors

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In the realm of Industry 4.0, diverse technologies such as AI, Cyber-Physical Systems, IoT, and advanced sensors converge to shape smarter future factories. Mobile manipulators (MMs) are pivotal, fostering flexibility, adaptability, and collaboration in industrial processes. On one hand, MMs offer a remarkable level of flexibility, adaptability, and collaboration in industrial processes, facilitating swift production line changes and efficiency enhancements. On the other hand, their integration into real manufacturing environments requires meticulous considerations, such as safety, human–robot interaction, and cybersecurity. This article delves into MMs’ essential role in achieving Industry 4.0’s automation and adaptability by integrating mobility with manipulation capabilities. The study reviews MMs’ industrial applications and integration into manufacturing systems. The most observed applications are logistics (49%) and manufacturing (33%). As Industry 4.0 advances, the paper emphasizes updating and aligning MMs with the smart factory concept by networks of sensors and the real-time analysis of them, especially for an enhanced human–robot interaction. Another objective is categorizing considerations for MMs’ utilization in Industry 4.0-aligned manufacturing. This review methodically covers a wide range of considerations and evaluates existing solutions. It shows a more comprehensive approach to understanding MMs in Industry 4.0 than previous works. Key focus areas encompass perception, data analysis, connectivity, human–robot interaction, safety, virtualization, and cybersecurity. By bringing together different aspects, this research emphasizes a more integrated view of the role and challenges of MMs in the Industry 4.0 paradigm and provides insights into aspects often overlooked. A detailed and synthetic analysis of existing knowledge was performed, and insights into their future path in Industry 4.0 environments were provided as part of the contributions of this paper. The article also appraises initiatives in these domains, along with a succinct technology readiness analysis. To sum up, this study highlights MMs’ pivotal role in Industry 4.0, encompassing their influence on adaptability, automation, and efficiency.

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Section: Flexible Navigation Path Planning Localization and Mappingmentioning

confidence: 99%

Mobile Manipulators in Industry 4.0: A Review of Developments for Industrial Applications

Ghodsian,

Benfriha,

Olabi

et al. 2023

Sensors

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“…To execute the self-motion task, the SMCS of redundant robot manipulators needs to meet the following requirements, which constitute the problem formulation. ① Robot manipulators adjust joint angles Θ(0) to given joint angles Θ g that are suitable joint angles within the workspace of redundant robots (Akli, 2021 ). ② Robot manipulators try to keep the end effector immobile during the process of self motion.…”

Section: Preliminary Problem and Schemesmentioning

confidence: 99%

Refined Self-Motion Scheme With Zero Initial Velocities and Time-Varying Physical Limits via Zhang Neurodynamics Equivalency

Tang

Zhang²

2022

Front. Neurorobot.

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By considering the different-level time-varying physical limits in joint space, a refined self-motion control scheme via Zhang neurodynamics equivalency (SMCSvZ) of redundant robot manipulators is proposed, analyzed, and investigated in this manuscript. The SMCSvZ is reformulated as a quadratic program with an equation constraint and a unified bound inequation constraint, which meets the self-motion requirements including the end effector keeping immobile and the initial joint-angle velocities being zero. Simulative verifications based on a six-degrees-of-freedom planar redundant manipulator substantiate the efficacy, accuracy, and superiority of the proposed control scheme, additionally by comparing it with two previous self-motion control schemes. Besides, simulative verifications based on a PUMA560 manipulator are carried out to further verify the availability and correctness of the SMCSvZ.

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“…Manipulability measurements and singularity of the arm were analysed based on monte Carlo method. Isma [24] discussed about a trajectory planning strategy based on Manipulability Percentage Index. An optimal trajectory was calculated based on the manipulability measurement and simulation studies were carried out to prove the advantages of the proposed method.…”

Section: Introductionmentioning

confidence: 99%

Manipulability Analysis of a Tree Type Humanoid Upper-Body Robot with Dual Redundant Arms

Sulaiman,

A. P.,

Mohan

et al. 2024

Scientia Iranica

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Manipulability analysis of humanoid robots with redundant arms is difficult due to the presence of large number of degrees-of-freedom (dof). Most researchers address manipulability issues without considering the effects of joint limits, obstacles and singular spaces in a Cartesian workspace. Hence, development of an accurate manipulability analysis technique, which can increase task performance by considering the above-mentioned issues is crucial for completing cooperative and non-cooperative tasks. Our paper proposes a new approach for determining manipulability measurements of a humanoid robot with redundant arms doing coordinated and non-coordinated tasks by analysing manipulability ellipsoids constructed through a desired trajectory. Penalty functions for compensating joint limits and avoiding obstacle regions are multiplied along with a Jacobian matrix to generate an Augmented Jacobian matrix. Manipulability ellipsoids determined using the Augmented Jacobian for individual configurations are compared with desired manipulability ellipsoids for finalizing the joint solutions. The advantages of proposed approach over conventional approach and significance of employing proposed approach for updating joint configurations are presented in this paper. The experimental validation of the proposed method using a developed humanoid robot is also given in this paper.

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Trajectory planning for mobile manipulators including Manipulability Percentage Index

Cited by 6 publications

References 31 publications

Mobile Manipulators in Industry 4.0: A Review of Developments for Industrial Applications

Mobile Manipulators in Industry 4.0: A Review of Developments for Industrial Applications

Refined Self-Motion Scheme With Zero Initial Velocities and Time-Varying Physical Limits via Zhang Neurodynamics Equivalency

Manipulability Analysis of a Tree Type Humanoid Upper-Body Robot with Dual Redundant Arms

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