Joint motion planning of industrial robot based on hybrid polynomial interpolation

Landmark-Based Robot Motion Planning

This paper describes a reduced version of the general motion planning problem in the presence of uncertainty and a complete polynomial algorithm solving it. This algorithm computes a guaranteed plan by backchaining non-directional preimages of the goal until one fully contains the set of possible initial positions of the robot. It assumes that landmarks are scattered across the workspace, that ...

Industrial robot motion control for joint tracking in laser welding

Mobile Robot Online Motion Planning Using Generalized Voronoi Graphs

In this paper, a new online robot motion planner is developed for systematically exploring unknown environ¬ments by intelligent mobile robots in real-time applications. The algorithm takes advantage of sensory data to find an obstacle-free start-to-goal path. It does so by online calculation of the Generalized Voronoi Graph (GVG) of the free space, and utilizing a combination of depth-first an...

Robust Hybrid Motion Force Control Algorithm for Robot Manipulators

In this paper we present a robust hybrid motion/force controller for rigid robot manipulators. The main contribution of this paper is that the proposed hybrid control system is able to accomplish motion objectives in free directions and force objectives in constrained directions under parametric uncertainty both in robot dynamics and stiffness constraint constant. Also, the given scheme is prov...

Joint Manifolds and Markov Decision Process in Robot Motion Planning

Learning trajectories for a robot in unknown environments which can be generalized to different types of robots is a challenging problem. The input space is very high dimensional and any type of algorithm and computation has a very high time complexity and challenging to define problems in such a high state space. Applying low-dimensional reduction to such problems does the trick for us. We can...