Trajectory generation and control for automatic manipulation
نویسندگان
چکیده
منابع مشابه
Trajectory generation and control for automatic manipulation
A method is described to convert information available at manipulator programming level into trajectories which are suitable for tracking by a servo control system. This process generates trajectories in real time which comply with general dynamic and kinematic constraints. Tracking accuracy will depend mainly on the acceleration demand of the nominal trajectory setpoints the actuator output de...
متن کاملA Controller Based on Online Trajectory Generation for Object Manipulation
In this paper, we present a new solution to build a reactive trajectory controller for object manipulation in Human Robot Interaction (HRI) context. Using an online trajectory generator, the controller build a time-optimal trajectory from the actual state to a target situation every control cycle. A human aware motion planner provides a trajectory for the robot to follow or a point to reach. Th...
متن کاملAutomatic Test Generation for String Manipulation Programs using Symbolic Execution
S ymbolic execution of string manipulation programs is challenging as the constraint solvers do not typically support logic over strings and non-string operations. KLEE[1] is a symbolic execution tool used to generate test cases with high coverage. It uses Simple Theorem Prover (STP) as its constraint solver. STP encodes constraints only as bit-vector logic and solves the constraints. It has no...
متن کاملTrajectory Generation and Control Methodology for an Autonomous Ground Vehicle
The Overbot, originally designed to compete in the DARPA Grand Challenge, has been retasked as a testbed for autonomous vehicle research. A complete platform, the vehicle allows for development and validation of new control algorithms, actuators and sensors by allowing integration into an existing architecture. An overview of the vehicle is provided, describing the interaction of hardware and s...
متن کاملTrajectory Generation and Control for Precise Aggressive Maneuvers with Quadrotors
We study the problem of designing dynamically feasible trajectories and controllers that drive a quadrotor to a desired state in state space. We focus on the development of a family of trajectories defined as a sequence of segments, each with a controller parameterized by a goal state or region in state space. Each controller is developed from the dynamic model of the robot and then iteratively...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Robotica
سال: 1994
ISSN: 0263-5747,1469-8668
DOI: 10.1017/s0263574700016702