Browsing by Keyword "Motion planning"
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Item Integrating structural and input design of a 2-DOF high-speed parallel manipulator: A flexible model-based approach(2010-11) Da Silva, Maíra M.; De Oliveira, Leopoldo P.R.; Brüls, Olivier; Michelin, Micaël; Baradat, Cédric; Tempier, Olivier; De Caigny, Jan; Swevers, Jan; Desmet, Wim; Van Brussel, Hendrik; Tecnalia Research & InnovationThis paper discusses the integrated design of parallel manipulators, which exhibit varying dynamics. This characteristic affects the machine stability and performance. The design methodology consists of four main steps: (i) the system modeling using flexible multibody technique, (ii) the synthesis of reduced-order models suitable for control design, (iii) the systematic flexible model-based input signal design, and (iv) the evaluation of some possible machine designs. The novelty in this methodology is to take structural flexibilities into consideration during the input signal design; therefore, enhancing the standard design process which mainly considers rigid bodies dynamics. The potential of the proposed strategy is exploited for the design evaluation of a two degree-of-freedom high-speed parallel manipulator. The results are experimentally validated.Item Motion planning(Elsevier, 2023-01-01) Villagra, Jorge; Jiménez, Felipe; Pérez, Joshué; Garcia-Daza, Ivan; Artuñedo, Antonio; Clavijo, Miguel; Díaz-Álvarez, Alberto; Fernandez-Lorca, David; Lattarulo, Ray Alejandro; Matute, Jose Ángel; Godoy, Jorge; Izquierdo-Gonzalo, Rubén; Alonso, Marta; CCAMMotion planning is responsible for computing a safe, comfortable, and dynamically feasible trajectory from the automated vehicle's current state to the goal configuration provided by the behavioral layer of the decision-making system. It considers information about static and dynamic obstacles around the vehicle and generates a collision-free trajectory that satisfies dynamic and kinematic constraints on the motion of the vehicle. This chapter defines the problem and provides a complete overview of the different existing techniques to obtain (i) appropriate paths along the drivable space; and (ii) the most suitable speed profile to follow that path. Although path planning is a well-established discipline in robotics, the focus of the chapter is on describing the different approaches under the perspective, needs, and constraints of on-road vehicles.