Transfer system in three dimensional space, the use of multi joint robot arm provides much flexibility. To realize quick point to point motion with minimal sloshing in such system, we propose an integrated framework of trajectory planning and sloshing suppression. The robot motion is decomposed into translational motion of the robot wrist and rotational motion of the robot hand to ensure the upright orientation of the liquid container. The trajectory planning for the translational motion is based on cubic spline optimization with free via points that produces smooth trajectory in joint space while it still allows obstacle avoidance in task space. Input shaping technique is applied in the task space to suppress the motion induced sloshing, w...
Robot 3D (three-dimension) path planning targets for finding an optimal and collision-free path in a...
The task of capturing a space target using a space robot carrying robotic manipulators can be divide...
Abstract. After a brief review of the current research on multi-robot systems, the paper presents a ...
This paper studies the sloshing suppression problem in point-to-point liquid container transfer via ...
This paper addresses the problem of suppressing sloshing dynamics in liquid handling robotic systems...
This paper studies the point-to-point liquid container transfer control problem for a PPR robot. The...
When considering industrial applications in which liquid-filled containers are transported by a robo...
none4siThis paper presents a feed-forward approach to reduce sloshing dynamics in liquid handling ro...
This paper addresses the problem of suppressing sloshing dynamics in liquid handling robotic systems...
We present a new algorithm to compute a collision-free trajectory for a robot manipulator to pour li...
This paper presents a generic method for optimal motion planning for 2D and 3D multi-link robotic ma...
This paper describes two methods for controlling the surface of a liquid in an open container as it ...
The mining robot, which has a large size and weight, is easy to slip and sink during the mining proc...
This paper deals with motion planning for a mul-tifunctional underwater robot which can accomplish v...
This paper proposes a trajectory planning method for a transfer system on a two-dimensional (2-D) su...
Robot 3D (three-dimension) path planning targets for finding an optimal and collision-free path in a...
The task of capturing a space target using a space robot carrying robotic manipulators can be divide...
Abstract. After a brief review of the current research on multi-robot systems, the paper presents a ...
This paper studies the sloshing suppression problem in point-to-point liquid container transfer via ...
This paper addresses the problem of suppressing sloshing dynamics in liquid handling robotic systems...
This paper studies the point-to-point liquid container transfer control problem for a PPR robot. The...
When considering industrial applications in which liquid-filled containers are transported by a robo...
none4siThis paper presents a feed-forward approach to reduce sloshing dynamics in liquid handling ro...
This paper addresses the problem of suppressing sloshing dynamics in liquid handling robotic systems...
We present a new algorithm to compute a collision-free trajectory for a robot manipulator to pour li...
This paper presents a generic method for optimal motion planning for 2D and 3D multi-link robotic ma...
This paper describes two methods for controlling the surface of a liquid in an open container as it ...
The mining robot, which has a large size and weight, is easy to slip and sink during the mining proc...
This paper deals with motion planning for a mul-tifunctional underwater robot which can accomplish v...
This paper proposes a trajectory planning method for a transfer system on a two-dimensional (2-D) su...
Robot 3D (three-dimension) path planning targets for finding an optimal and collision-free path in a...
The task of capturing a space target using a space robot carrying robotic manipulators can be divide...
Abstract. After a brief review of the current research on multi-robot systems, the paper presents a ...