• Non-linear dynamics modelling description for simulating the behaviour of forestry cranes 2014 • Modeling an industrial flotation process: A case study at the mining company Boliden AB 2012 • Modeling dynamics of an electro-hydraulic servo actuated manipulator: A case study of a forestry forwarder crane 2012 • Underactuated mechanical systems: Contributions to trajectory planning, analysis, a...

in this paper, trajectory generation for the 4 dof arm of surena iii humanoid robot with the purpose of optimizing energy and avoiding a moving obstacle is presented. for this purpose, first, kinematic equations for a seven dof manipulator are derived. then, using the lagrange method, an explicit dynamics model for the arm is developed. in the next step, in order to generate the desired traject...

One method of control of cyberphysical systems, particularly intelligent mobile robots, involves a hierarchy of high-level classical planning and low-level trajectory optimization. We present a new technique to incorporate trajectory costs in a high-level classical planning problem (CPP). The proposed approach is particularly suited to leverage existing algorithms for solving CPPs and, independ...

This paper aims to discuss the requirements of safe and smooth trajectory planning of transporter mobile robots to perform non-prehensile object manipulation task. In non-prehensile approach, the robot and the object must keep their grasp-less contact during manipulation task. To this end, dynamic grasp concept is employed for a box manipulation task and corresponding conditions are obtained an...

This paper deals with a multi-mode control architecture for robot navigation and obstacle avoidance. It presents an adaptive and flexible algorithm of control which guarantees the stability and the smoothness of mobile robot navigation dealing with unexpected events. Moreover, the proposed Planning and Re-Planning (PRP) algorithm combine the two schools of thought, the one based on the path pla...

Robotized assembly and manufacturing often require to modify the robot motion at runtime. When primary constraint is preserve geometrical path as much possible, it convenient scale nominal trajectory in time meet constraints. Look-ahead techniques are computationally heavy, while non-look-ahead ones usually show poor performance critical circumstances. This paper proposes a novel technique that...

Abstract. Path planning is a key technique used in the operation of bending robots. In this paper, an obstacle-avoidance path-planning method 5 degrees freedom (5 DOF) robot based on improved artificial potential field proposed. Firstly, connecting-rod coordinate system DOF Cartesian established to determine equation motion trajectory robot. Secondly, view problem local minimum (APF) and failur...

Planning and decision making, especially the planning of dynamically negotiable collision free paths, is an integral part in the operation of Unmanned Aerial Vehicles (UAVs). Effective path planning ensures that the UAV operates safely, and conforms to the rules and regulations governing flight within the National Airspace System (NAS). To demonstrate an Equivalent Level Of Safety (ELOS) to tha...

This paper proposes a time optimal path planning while considering the physical constraints of wheeled mobile robots along a high curvature Bezier curve. The proposed algorithm overcomes drawbacks of preceding results. A trajectory produced through acceleration limits showed long traveling time, non-uniform sampling time and unsatisfied terminal velocity. A convolution-based method to consider ...