Journal ArticleDOI
Repeatable Motion Planning for Redundant Robots Over Cyclic Tasks
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TLDR
A control-based randomized planner is presented, which produces closed collision-free paths in configuration space and guarantees continuous satisfaction of the task constraints and is shown to be probabilistically complete.Abstract:
We consider the problem of repeatable motion planning for redundant robotic systems performing cyclic tasks in the presence of obstacles. For this open problem, we present a control-based randomized planner, which produces closed collision-free paths in configuration space and guarantees continuous satisfaction of the task constraints. The proposed algorithm, which relies on bidirectional search and loop closure in the task-constrained configuration space, is shown to be probabilistically complete. A modified version of the planner is also devised for the case in which configuration-space paths are required to be smooth. Finally, we present planning results in various scenarios involving both free-flying and nonholonomic robots to show the effectiveness of the proposed method.read more
Citations
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Journal ArticleDOI
New Disturbance Rejection Constraint for Redundant Robot Manipulators: An Optimization Perspective
TL;DR: Numerical experiments, tests, and comparisons verify the effectiveness, robustness, and superiority of the RHMO scheme with the new constraint for the motion planning and optimization of redundant robot manipulators against time-varying disturbances.
Journal ArticleDOI
A Neural Controller for Image-Based Visual Servoing of Manipulators With Physical Constraints
Yinyan Zhang,Shuai Li +1 more
TL;DR: An image-based visual servoing scheme is proposed for manipulators with an eye-in-hand configuration that guarantees the asymptotic convergence of feature errors to zero but also the compliance with joint angle and velocity limits of the manipulators.
Journal ArticleDOI
An improved artificial potential field method of trajectory planning and obstacle avoidance for redundant manipulators
TL;DR: An improved artificial potential field method of trajectory planning and obstacle avoidance for redundant manipulators by focusing on the position for the manipulator end-effectors and introducing boundaries for Cartesian space components to optimize the attractive field function is presented.
Journal ArticleDOI
Minimizing Task-Space Fréchet Error via Efficient Incremental Graph Search
TL;DR: An anytime algorithm is presented that generates a collision-free configuration-space path that closely follows a desired path in task space, according to the discrete Fréchet distance, and a proof sketch of the asymptotic optimality of the algorithm is offered.
Journal ArticleDOI
Predefined-Time Convergent Neural Solution to Cyclical Motion Planning of Redundant Robots Under Physical Constraints
TL;DR: This article proposes a novel ZNN model for CMP of physically constrained redundant robots that is endowed with predefined-time convergence by using various designed activation functions and delivers superior convergence.
References
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Journal ArticleDOI
Finite-Time Stability of Continuous Autonomous Systems
TL;DR: It is shown that the regularity properties of the Lyapunov function and those of the settling-time function are related and converse Lyap Unov results can only assure the existence of continuous Lyap unov functions.
Journal ArticleDOI
Randomized kinodynamic planning
TL;DR: In this paper, the authors presented the first randomized approach to kinodynamic planning (also known as trajectory planning or trajectory design), where the task is to determine control inputs to drive a robot from an unknown position to an unknown target.
Book
Robotics: Modelling, Planning and Control
TL;DR: Robotics provides the basic know-how on the foundations of robotics: modelling, planning and control, suitable for use in senior undergraduate and graduate courses in automation and computer, electrical, electronic and mechanical engineering courses with strong robotics content.