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Offline motion planning and simulation of two-robot welding coordination

Tie ZHANG, Fan OUYANG

Frontiers of Mechanical Engineering 2012, Volume 7, Issue 1,   Pages 81-92 doi: 10.1007/s11465-012-0309-4

Abstract: After that, the non master/slave scheme is chosen for the motion planning, the non master/slave scheme

Keywords： complex curve seam     two robots     coordinated welding     motion planning    

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Safe Motion Planning and Control Framework for Automated Vehicles with Zonotopic TRMPC Article

Hao Zheng, Yinong Li, Ling Zheng, Ehsan Hashemi

Engineering 2024, Volume 33, Issue 2,   Pages 146-159 doi: 10.1016/j.eng.2023.12.003

Abstract: hazardous behaviors when the AV tracks ideal trajectories that are individually optimized by the AV's planningTo address this issue, this study proposes a safe motion planning and control (SMPAC) framework for AVsFor the planning layer, a concept of safety sets, representing the geometric boundaries of the ego vehicle

Keywords： Automated driving     Motion planning     Motion control     Tube MPC     Zonotope    

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Efficient Configuration Space Construction and Optimization for Motion Planning Article

Jia Pan, Dinesh Manocha

Engineering 2015, Volume 1, Issue 1,   Pages 46-57 doi: 10.15302/J-ENG-2015009

Abstract: of high-dimensional configuration spaces; and ② how to efficiently perform geometric proximity and motionplanning queries in high-dimensional configuration spaces.nearest neighbor and parallel collision detection algorithms and use these algorithms to accelerate motionplanning.

Keywords： configuration space     motion planning     GPU parallel algorithm    

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Strategy for robot motion and path planning in robot taping

Qilong YUAN,I-Ming CHEN,Teguh Santoso LEMBONO,Simon Nelson LANDÉN,Victor MALMGREN

Frontiers of Mechanical Engineering 2016, Volume 11, Issue 2,   Pages 195-203 doi: 10.1007/s11465-016-0390-1

Abstract:

Covering objects with masking tapes is a common process for surface protection in processes like spray painting, plasma spraying, shot peening, etc. Manual taping is tedious and takes a lot of effort of the workers. The taping process is a special process which requires correct surface covering strategy and proper attachment of the masking tape for an efficient surface protection. We have introduced an automatic robot taping system consisting of a robot manipulator, a rotating platform, a 3D scanner and specially designed taping end-effectors. This paper mainly talks about the surface covering strategies for different classes of geometries. The methods and corresponding taping tools are introduced for taping of following classes of surfaces: Cylindrical/extended surfaces, freeform surfaces with no grooves, surfaces with grooves, and rotational symmetrical surfaces. A collision avoidance algorithm is introduced for the robot taping manipulation. With further improvements on segmenting surfaces of taping parts and tape cutting mechanisms, such taping solution with the taping tool and the taping methodology can be combined as a very useful and practical taping package to assist humans in this tedious and time costly work.

Keywords： robot taping     path planning     robot manipulation     3D scanning    

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A robot fuzzy motion planning approach in unknown environments

FU Yi-li, JIN Bao, LI Han, WANG Shu-guo

Frontiers of Mechanical Engineering 2006, Volume 1, Issue 3,   Pages 336-340 doi: 10.1007/s11465-006-0033-z

Abstract: A fuzzy robot motion planning approach is proposed in unknown environments for three-degree industrialThe proposed planning system is composed of several separate fuzzy units, which control individually

Keywords： manipulator     repelling influence     manipulator configuration     three-degree industrial     simulation    

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Dynamic motion of quadrupedal robots on challenging terrain: a kinodynamic optimization approach

Frontiers of Mechanical Engineering 2024, Volume 19, Issue 3, doi: 10.1007/s11465-024-0791-5

Abstract: The dynamic motion of quadrupedal robots on challenging terrain generally requires elaborate spatial–temporalkinodynamic motion planning and accurate control at higher refresh rate in comparison with regular terrainHowever, conventional quadrupedal robots usually generate relatively coarse planning and employ motionplanning as an optimization problem; jointly treat the foot’s locations, contact forces, and torso motionsas decision variables; combine smooth motion and minimal energy consumption as the objective function

Keywords： quadrupedal robot     kinodynamic planning     nonlinear optimization     challenging terrain     whole-body control    

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Motion planning and tracking control of a four-wheel independently driven steered mobile robot with multiple

Xiaolong ZHANG, Yu HUANG, Shuting WANG, Gen LI, Yuanlong XIE, Wei MENG

Frontiers of Mechanical Engineering 2021, Volume 16, Issue 3,   Pages 504-527 doi: 10.1007/s11465-020-0626-y

Abstract: problem, this study proposes a novel multiple mode-based navigation system, which can achieve efficient motionplanning and accurate tracking control.and obtain a comprehensive optimized global path, a kinodynamic interior–exterior cell exploration planningBy utilizing the sampled subgoals and the constructed global path, local planning is then performed to

Keywords： mobile robot     multiple maneuvering mode     motion planning     tracking control     receding horizon control    

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Mechanism Design and Motion Planning of a Hexapod Curling Robot Exhibited During the Beijing 2022 Winter Article

Ke Yin, Yue Gao, Feng Gao, Xianbao Chen, Yue Zhao, Yuguang Xiao, Qiao Sun, Jing Sun

Engineering 2024, Volume 35, Issue 4,   Pages 15-31 doi: 10.1016/j.eng.2023.10.018

Abstract:

When a curling rock slides on an ice sheet with an initial rotation, a lateral movement occurs, which is known as the curling phenomenon. The force of friction between the curling rock and the ice sheet changes continually with changes in the environment; thus, the sport of curling requires great skill and experience. The throwing of the curling rock is a great challenge in robot design and control, and existing curling robots usually adopt a combination scheme of a wheel chassis and gripper that differs significantly from human throwing movements. A hexapod curling robot that imitates human kicking, sliding, pushing, and curling rock rotating was designed and manufactured by our group, and completed a perfect show during the Beijing 2022 Winter Olympics. Smooth switching between the walking and throwing tasks is realized by the robot's morphology transformation based on leg configuration switching. The robot's controlling parameters, which include the kicking velocity vk , pushing velocity vp , orientation angle θc , and rotation velocity ω , are determined by aiming and sliding models according to the estimated equivalent friction coefficient μequ and ratio e  of the front and back frictions. The stable errors between the target and actual stopping points converge to 0.2 and 1.105 m in the simulations and experiments, respectively, and the error shown in the experiments is close to that of a well-trained wheelchair curling athlete. This robot holds promise for helping ice-makers rectify ice sheet friction or assisting in athlete training.

Keywords： Legged robot     Curling robot     Winter Olympics     Mechanism design     Motion planning    

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Motion capability analysis of a quadruped robot as a parallel manipulator

Jingjun YU,Dengfeng LU,Zhongxiang ZHANG,Xu PEI

Frontiers of Mechanical Engineering 2014, Volume 9, Issue 4,   Pages 295-307 doi: 10.1007/s11465-014-0317-7

Abstract: parallel manipulator in quadruple stance phase, which is used to obtain the workspace and control the motionFor this purpose, the leg kinematics is primarily analyzed, which lays the foundation on the gait planningforward kinematic model, two issues on obtaining the reachable workspace of parallel manipulator and planningthe motion of the body are implemented and verified by ADAMS simulation.

Keywords： quadruped robot     actuated joints selection     kinematics analysis     motion planning     parallel manipulator    

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Research on Mobile Robots Motion Planning: A Survey

Liu Huajun,Yang Jingyu,Lu Jianfeng,Tang Zhenmin,Zhao Chunxia,Cheng Weiming

Strategic Study of CAE 2006, Volume 8, Issue 1,   Pages 85-94

Abstract:

Mobile robots motion planning is one of the key technologies in the robot navigation.based on geometry construction of free spaces, forward graph search algorithms, random sampling-based motionplanning algorithms and intelligent planners.compared and summarized their performance and gave an outlook to the future research of the mobile robots motionplanning.

Keywords： mobile robot     motion planning     robot navigation     geometry construction     heuristic search     random sampling    

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Motion planning of a quadrotor robot game using a simulation-based projected policy iteration method Regular Papers

Li-dong ZHANG, Ban WANG, Zhi-xiang LIU, You-min ZHANG, Jian-liang AI

Frontiers of Information Technology & Electronic Engineering 2019, Volume 20, Issue 4,   Pages 525-537 doi: 10.1631/FITEE.1800571

Abstract: approach using a projected policy iteration method for learning the utilities of game states and improving motionSimulation results demonstrate that the proposed decision strategy can generate effective and efficient motion

Keywords： Reinforcement learning     Approximate dynamic programming     Decision making     Motion planning     Unmanned aerial    

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A novel task-oriented framework for dual-arm robotic assembly task

Frontiers of Mechanical Engineering 2021, Volume 16, Issue 3,   Pages 528-545 doi: 10.1007/s11465-021-0638-2

Abstract: This paper proposes a novel framework that combines task-oriented motion planning with visual perception

Keywords： dual-arm assembly     AI reasoning     intelligent system     task-oriented motion planning     visual perception    

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Evolutionary Decision-Making and Planning for Autonomous Driving Based on Safe and Rational Exploration Article

Kang Yuan, Yanjun Huang, Shuo Yang, Zewei Zhou, Yulei Wang, Dongpu Cao, Hong Chen

Engineering 2024, Volume 33, Issue 2,   Pages 108-120 doi: 10.1016/j.eng.2023.03.018

Abstract:

Decision-making and motion planning are extremely important in autonomous driving to ensure safe drivingThis study proposes an online evolutionary decision-making and motion planning framework for autonomousThen, model predictive control (MPC) is employed to execute both longitudinal and lateral motion planningA motion envelope is established and embedded into a rational exploration and exploitation scheme, which

Keywords： Autonomous driving     Decision-making     Motion planning     Deep reinforcement learning     Model predictive control    

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A-STC: auction-based spanning tree coverage algorithm formotion planning of cooperative robots Research Article

Guan-qiang GAO, Bin XIN

Frontiers of Information Technology & Electronic Engineering 2019, Volume 20, Issue 1,   Pages 18-31 doi: 10.1631/FITEE.1800551

Abstract:

The multi-robot coverage motion planning (MCMP) problem in which every reachable area must be covered

Keywords： Coverage motion planning     Multi-robot system     Auction algorithm     Spanning tree coverage algorithm    

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Safe navigation of quadrotorswith jerk limited trajectory None

Shu-peng LAI, Meng-lu LAN, Ya-xuan LI, Ben M. CHEN

Frontiers of Information Technology & Electronic Engineering 2019, Volume 20, Issue 1,   Pages 107-119 doi: 10.1631/FITEE.1800719

Abstract: It is a non-trivial task to generate a smooth trajectory satisfying both dynamic constraints and motionjerk limited trajectory generation algorithm has been extended to cover the cases with asymmetrical motion

Keywords： Quadrotor     Unmanned aerial vehicle     Motion planning    

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Title Author Date Type Operation

Offline motion planning and simulation of two-robot welding coordination

Tie ZHANG, Fan OUYANG

Journal Article

Safe Motion Planning and Control Framework for Automated Vehicles with Zonotopic TRMPC

Hao Zheng, Yinong Li, Ling Zheng, Ehsan Hashemi

Journal Article

Efficient Configuration Space Construction and Optimization for Motion Planning

Jia Pan, Dinesh Manocha

Journal Article

Strategy for robot motion and path planning in robot taping

Qilong YUAN,I-Ming CHEN,Teguh Santoso LEMBONO,Simon Nelson LANDÉN,Victor MALMGREN

Journal Article

A robot fuzzy motion planning approach in unknown environments

FU Yi-li, JIN Bao, LI Han, WANG Shu-guo

Journal Article

Dynamic motion of quadrupedal robots on challenging terrain: a kinodynamic optimization approach

Journal Article

Motion planning and tracking control of a four-wheel independently driven steered mobile robot with multiple

Xiaolong ZHANG, Yu HUANG, Shuting WANG, Gen LI, Yuanlong XIE, Wei MENG

Journal Article

Mechanism Design and Motion Planning of a Hexapod Curling Robot Exhibited During the Beijing 2022 Winter

Ke Yin, Yue Gao, Feng Gao, Xianbao Chen, Yue Zhao, Yuguang Xiao, Qiao Sun, Jing Sun

Journal Article

Motion capability analysis of a quadruped robot as a parallel manipulator

Jingjun YU,Dengfeng LU,Zhongxiang ZHANG,Xu PEI

Journal Article

Research on Mobile Robots Motion Planning: A Survey

Liu Huajun,Yang Jingyu,Lu Jianfeng,Tang Zhenmin,Zhao Chunxia,Cheng Weiming

Journal Article

Motion planning of a quadrotor robot game using a simulation-based projected policy iteration method

Li-dong ZHANG, Ban WANG, Zhi-xiang LIU, You-min ZHANG, Jian-liang AI

Journal Article

A novel task-oriented framework for dual-arm robotic assembly task

Journal Article

Evolutionary Decision-Making and Planning for Autonomous Driving Based on Safe and Rational Exploration

Kang Yuan, Yanjun Huang, Shuo Yang, Zewei Zhou, Yulei Wang, Dongpu Cao, Hong Chen

Journal Article

A-STC: auction-based spanning tree coverage algorithm formotion planning of cooperative robots

Guan-qiang GAO, Bin XIN

Journal Article

Safe navigation of quadrotorswith jerk limited trajectory

Shu-peng LAI, Meng-lu LAN, Ya-xuan LI, Ben M. CHEN

Journal Article