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Keywords: Motion Planning
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Proceedings Papers

Proc. ASME. IMECE2023, Volume 3: Advanced Manufacturing, V003T03A065, October 29–November 2, 2023
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2023-113127
... Abstract Efficient motion planning methods are essential to ensure industrial robots to work properly and safely. Although sampling-based planning algorithms are viable ones, they often struggle to adapt to highly constrained and complex environments. This paper introduces a new robot motion...
Proceedings Papers

Proc. ASME. IMECE2022, Volume 7: Engineering Education, V007T09A004, October 30–November 3, 2022
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2022-95524
... numerical simulations based on the same target trajectories to compare the performances achieved by the different algorithms. Lagrangian dynamic modeling model-based control nonlinear control planar robotic manipulators motion planning numerical simulations Proceedings of the ASME 2022...
Proceedings Papers

Proc. ASME. IMECE2020, Volume 2B: Advanced Manufacturing, V02BT02A050, November 16–19, 2020
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2020-23388
... as a general guideline for carrying out material handling tasks with a thin part of wavy geometry by using a collaborative robot. turbine blade gripper motion planning robotics ROBOTIC HANDLING OF JET ENGINE TURBINE BLADE USING COLLABORATIVE ROBOT Prateek Sahay, Janet Dong1, Caleb Bisig, Ou Ma...
Proceedings Papers

Proc. ASME. IMECE2019, Volume 4: Dynamics, Vibration, and Control, V004T05A058, November 11–14, 2019
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2019-11170
... Abstract In this paper, a novel algorithm is presented to achieve the coordinated motion planning of a Legged Mobile Manipulator (LMM) for tracking the given end-effector’s trajectory. LMM robotic system can be obtained by mounting a manipulator on the top of a multi-legged platform...
Proceedings Papers

Proc. ASME. IMECE2011, Volume 9: Transportation Systems; Safety Engineering, Risk Analysis and Reliability Methods; Applied Stochastic Optimization, Uncertainty and Probability, 729-736, November 11–17, 2011
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2011-62694
... 02 08 2012 This work presents a novel nonlinear programming based motion planning framework that treats uncertain under-actuated dynamical systems described by ordinary differential equations. Uncertainty in multibody dynamical systems comes from various sources, such as: system...
Proceedings Papers

Proc. ASME. IMECE2002, Dynamic Systems and Control, 289-295, November 17–22, 2002
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2002-33465
... 23 05 2008 The problem of motion planning for a class of dynamic systems is considered in this study. A knowledge-based approach is used to determine the initial conditions that will yield a certain desired state of the dynamic system. The search space is limited by using a set...
Proceedings Papers

Proc. ASME. IMECE2003, Design Engineering, Volumes 1 and 2, 997-1002, November 15–21, 2003
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2003-42674
... 13 05 2008 The motion planning problem of a nonholonomic multibody system is investigated. Nonholonomicity arises in many mechanical systems subject to nonintegrable velocity constraints or nonintegrable conservation laws. When the total angular momentum is zero, the control problem...