Optimization of Motion Planning and Control for Automatic Machines, Robots and Multibody Systems
The optimization of motion and trajectory planning is an effective and usually costless approach to improving the performance of robots, mechatronic systems, automatic machines and multibody systems. Indeed, wise planning increases precision and machine productivity, while reducing vibrations, motio...
সংরক্ষণ করুন:
| বিন্যাস: | Online |
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| ভাষা: | ইংরেজি |
| প্রকাশিত: |
MDPI - Multidisciplinary Digital Publishing Institute
2021
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| বিষয়গুলি: | |
| অনলাইন ব্যবহার করুন: | ONIX_20210501_9783039430604_807 |
| ট্যাগগুলো: |
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| _version_ | 1869527682325151744 |
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| collection | Directory of Open Access Books |
| description | The optimization of motion and trajectory planning is an effective and usually costless approach to improving the performance of robots, mechatronic systems, automatic machines and multibody systems. Indeed, wise planning increases precision and machine productivity, while reducing vibrations, motion time, actuation effort and energy consumption. On the other hand, the availability of optimized methods for motion planning allows for a cheaper and lighter system construction. The issue of motion planning is also tightly linked with the synthesis of high-performance feedback and feedforward control schemes, which can either enhance the effectiveness of motion planning or compensate for its gaps. To collect and disseminate a meaningful collection of these applications, this book proposes 15 novel research studies that cover different sub-areas, in the framework of motion planning and control. |
| format | Online |
| id | doab-20.500.12854ir-69061 |
| institution | Directory of Open Access Books |
| language | eng |
| publishDate | 2021 |
| publishDateRange | 2021 |
| publishDateSort | 2021 |
| publisher | MDPI - Multidisciplinary Digital Publishing Institute |
| publisherStr | MDPI - Multidisciplinary Digital Publishing Institute |
| record_format | ojs |
| spelling | doab-20.500.12854ir-690612024-04-11T15:10:31Z Optimization of Motion Planning and Control for Automatic Machines, Robots and Multibody Systems Richiedei, Dario Boscariol, Paolo humanoid robot walk fast rotational slip ZMP gait planning quadruped robot whole robot control location trajectory dynamic gait fin stabilizer command-filtered backstepping sliding mode control prescribed performance disturbance observer OES inertial stability accuracy low-speed performance speed observation disturbance observation state-augmented Kalman filter composed control scheme fractional calculus FOPD controller underwater vehicle motion control modal analysis flexible multibody systems linearized models six-legged robot whole-body motion planning rugged terrain support swing gesture-based teleoperation robotic assembly force feedback compliant robot motion pickup manipulator adaptive genetic algorithm trajectory optimization improved artificial potential field method obstacle avoidance planning robust estimation dynamic model unknown but bounded noise extended set-membership filter dynamic balancing shaking force balancing acceleration control of the center of mass fully Cartesian coordinates natural coordinates parallel manipulators passive model biped walking Impact and contact friction force dissipative force energy efficiency robot motion design functional redundancy UR5 hybrid navigation system weighted-sum model a heuristic algorithm piecewise cubic Bézier curve mobile robot n/a thema EDItEUR::T Technology, Engineering, Agriculture, Industrial processes::TB Technology: general issues::TBX History of engineering and technology The optimization of motion and trajectory planning is an effective and usually costless approach to improving the performance of robots, mechatronic systems, automatic machines and multibody systems. Indeed, wise planning increases precision and machine productivity, while reducing vibrations, motion time, actuation effort and energy consumption. On the other hand, the availability of optimized methods for motion planning allows for a cheaper and lighter system construction. The issue of motion planning is also tightly linked with the synthesis of high-performance feedback and feedforward control schemes, which can either enhance the effectiveness of motion planning or compensate for its gaps. To collect and disseminate a meaningful collection of these applications, this book proposes 15 novel research studies that cover different sub-areas, in the framework of motion planning and control. 2021-05-01T15:40:14Z 2021-05-01T15:40:14Z 2020 book ONIX_20210501_9783039430604_807 9783039430604 9783039430611 https://directory.doabooks.org/handle/20.500.12854/69061 eng application/octet-stream Attribution 4.0 International https://mdpi.com/books/pdfview/book/2830 https://mdpi.com/books/pdfview/book/2830 MDPI - Multidisciplinary Digital Publishing Institute 10.3390/books978-3-03943-061-1 10.3390/books978-3-03943-061-1 46cabcaa-dd94-4bfe-87b4-55023c1b36d0 9783039430604 9783039430611 266 Basel, Switzerland open access |
| spellingShingle | humanoid robot walk fast rotational slip ZMP gait planning quadruped robot whole robot control location trajectory dynamic gait fin stabilizer command-filtered backstepping sliding mode control prescribed performance disturbance observer OES inertial stability accuracy low-speed performance speed observation disturbance observation state-augmented Kalman filter composed control scheme fractional calculus FOPD controller underwater vehicle motion control modal analysis flexible multibody systems linearized models six-legged robot whole-body motion planning rugged terrain support swing gesture-based teleoperation robotic assembly force feedback compliant robot motion pickup manipulator adaptive genetic algorithm trajectory optimization improved artificial potential field method obstacle avoidance planning robust estimation dynamic model unknown but bounded noise extended set-membership filter dynamic balancing shaking force balancing acceleration control of the center of mass fully Cartesian coordinates natural coordinates parallel manipulators passive model biped walking Impact and contact friction force dissipative force energy efficiency robot motion design functional redundancy UR5 hybrid navigation system weighted-sum model a heuristic algorithm piecewise cubic Bézier curve mobile robot n/a thema EDItEUR::T Technology, Engineering, Agriculture, Industrial processes::TB Technology: general issues::TBX History of engineering and technology Optimization of Motion Planning and Control for Automatic Machines, Robots and Multibody Systems |
| title | Optimization of Motion Planning and Control for Automatic Machines, Robots and Multibody Systems |
| title_full | Optimization of Motion Planning and Control for Automatic Machines, Robots and Multibody Systems |
| title_fullStr | Optimization of Motion Planning and Control for Automatic Machines, Robots and Multibody Systems |
| title_full_unstemmed | Optimization of Motion Planning and Control for Automatic Machines, Robots and Multibody Systems |
| title_short | Optimization of Motion Planning and Control for Automatic Machines, Robots and Multibody Systems |
| title_sort | optimization of motion planning and control for automatic machines robots and multibody systems |
| topic | humanoid robot walk fast rotational slip ZMP gait planning quadruped robot whole robot control location trajectory dynamic gait fin stabilizer command-filtered backstepping sliding mode control prescribed performance disturbance observer OES inertial stability accuracy low-speed performance speed observation disturbance observation state-augmented Kalman filter composed control scheme fractional calculus FOPD controller underwater vehicle motion control modal analysis flexible multibody systems linearized models six-legged robot whole-body motion planning rugged terrain support swing gesture-based teleoperation robotic assembly force feedback compliant robot motion pickup manipulator adaptive genetic algorithm trajectory optimization improved artificial potential field method obstacle avoidance planning robust estimation dynamic model unknown but bounded noise extended set-membership filter dynamic balancing shaking force balancing acceleration control of the center of mass fully Cartesian coordinates natural coordinates parallel manipulators passive model biped walking Impact and contact friction force dissipative force energy efficiency robot motion design functional redundancy UR5 hybrid navigation system weighted-sum model a heuristic algorithm piecewise cubic Bézier curve mobile robot n/a thema EDItEUR::T Technology, Engineering, Agriculture, Industrial processes::TB Technology: general issues::TBX History of engineering and technology |
| topic_facet | humanoid robot walk fast rotational slip ZMP gait planning quadruped robot whole robot control location trajectory dynamic gait fin stabilizer command-filtered backstepping sliding mode control prescribed performance disturbance observer OES inertial stability accuracy low-speed performance speed observation disturbance observation state-augmented Kalman filter composed control scheme fractional calculus FOPD controller underwater vehicle motion control modal analysis flexible multibody systems linearized models six-legged robot whole-body motion planning rugged terrain support swing gesture-based teleoperation robotic assembly force feedback compliant robot motion pickup manipulator adaptive genetic algorithm trajectory optimization improved artificial potential field method obstacle avoidance planning robust estimation dynamic model unknown but bounded noise extended set-membership filter dynamic balancing shaking force balancing acceleration control of the center of mass fully Cartesian coordinates natural coordinates parallel manipulators passive model biped walking Impact and contact friction force dissipative force energy efficiency robot motion design functional redundancy UR5 hybrid navigation system weighted-sum model a heuristic algorithm piecewise cubic Bézier curve mobile robot n/a thema EDItEUR::T Technology, Engineering, Agriculture, Industrial processes::TB Technology: general issues::TBX History of engineering and technology |
| url | ONIX_20210501_9783039430604_807 |