This paper presents a novel approach to on-line trajectory planning of robot arms for the interception of a fastmaneuvering object under torque and velocity constraints. Especially, the trajectory planning in the Y direction employs a missile guidance algorithm to intercept the maneuvering object. The proposed method yields that a robot arm can smoothly grasp a maneuvering object. Simulation re...

With the rise of artificial intelligence and automation, moral decisions that were formerly preserve humans are being put into hands algorithms. In autonomous driving, a variety such with ethical implications made by algorithms for behaviour trajectory planning. Therefore, here we present an planning algorithm framework aims at fair distribution risk among road users. Our implementation incorpo...

This paper presents the method of trajectory planning for mobile manipulators considering limitations resulting from capabilities robotic system actuators. The fulfillment control constraints is achieved by introducing virtual scaling robot in limited periods time. Such an approach allows researchers to obtain trajectories fulfilling without significantly increasing time task execution. propose...

Whether a task can be completed after a failure of one of the degrees-of-freedom of a redundant manipulator depends on the joint angle at which the failure takes place. It is possible to achieve fault tolerance by globally planning a trajectory that avoids unfavorable joint positions before a failure occurs. In this paper, we present a trajectory planning algorithm that guarantees fault toleran...

The tethered space robot (TSR) is a new concept of space robot which consists of a robot platform, space tether and operation robot. This paper presents a multi-objective optimal trajectory planning and a coordinated tracking control scheme for TSR based on velocity impulse in the approaching phase. Both total velocity impulse and flight time are included in this optimization. The non-dominated...