Optimization of Motion Planning and Control for Automatic Machines, Robots and Multibody Systems

• Other Authors: Richiedei, Dario (Editor), Boscariol, Paolo (Editor)
• Format: Electronic Book Chapter
• Language: English
• Published: Basel, Switzerland MDPI - Multidisciplinary Digital Publishing Institute 2020
• Subjects: History of engineering & technology; 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
• Online Access: DOAB: download the publication; DOAB: description of the publication

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.