The problem associated with trajectory generation for a car-like robot (CLR) moving from an initial configuration to any final configuration is studied in this paper. The aim of our research is to achieve energy-optimal solution to the problem of trajectory generation. Based on bang-bang control theory, the necessary condition for energy-optimal trajectory generation is studied. Based on steeri...

Trajectory of an under-actuated manipulator is usually generated according to both kinematics and dynamics of the manipulator, different to that of conventional manipulator. For this reason, another important problem in trajectory generation for the real system of an under-actuated manipulator is the realizablity of trajectory. That is, the real trajectory by real system may differ greatly from...

Automated CAD-guided tool planning has many applications in surface manufacturing, such as spray painting, spray forming, rapid tooling, cleaning and polishing. In our previous work, a general framework has been developed to automatically generate trajectories for a free-form surface for these tasks. Because of the complicated geometry of a free-form surface, it maybe partitioned into multiple ...

Image-based servo is a local control solution. Thanks to the feedback loop closed in the image space, local convergence and stability in the presence of modeling errors and noise perturbations are ensured when the error is small. The principal deficiency of this approach is that the induced (3D) trajectories are not optimal and sometimes, especially when the displacement to realize is large, th...

Humans and animals are capable of overcoming complex terrain challenges with graceful and agile movements. One of the key ingredients for such complex behaviors is motion coordination to exploit passive dynamics. We present a direct collocation trajectory optimization to find optimal control policy and generate optimal trajectory for the swing up motion of a gymnast on high bar. Notwithstanding...

Optimal point-to-point trajectory planning for planar redundant manipulator is considered in this study. The main objective is to minimize the sum of the position error of the end-effector at each intermediate point along the trajectory so that the end-effector can track the prescribed trajectory accurately. An algorithm combining Genetic Algorithm and Pattern Search as a Generalized Pattern Se...

Industrial robots driven electrically with a feedback control loop (and even then hydrauhcally) create highly nonlinear dynamic systems, the control of which in real time is a difficult problem of the control theory. From the theoretical point of view it is a classical problem of optimal control. A system is to be controlled from the initial state to the terminal state so as to minimize some pe...

This paper presents a method for motion planning in dynamic environments, subject to robot dynamics and ac-tuator constraints. The time optimal trajectory is computed by rst generating an initial guess using the concept of velocity obstacle. The initial guess, computed by a global search over a tree of avoidance maneuvers, is then optimized using a dynamic optimization. This method is applicabl...

This paper introduces a closed-loop Guidance and Control optimal algorithm that balances the propellant consumption and the need for collision avoidance among formation ‡ying spacecraft. This model-based algorithm is purely algebraic and computes the spacecraft trajectories from the knowledge of the formation linearized relative dynamics equations and the formation full state. Using Pontryagin’...