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Keywords: Motion Planning
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Proceedings Papers

Proc. ASME. IMECE2022, Volume 7: Engineering Education, V007T09A004, October 30–November 3, 2022
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
Paper No: IMECE2020-23388
... in this paper can be used 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...
Proceedings Papers

Proc. ASME. IMECE2019, Volume 4: Dynamics, Vibration, and Control, V004T05A058, November 11–14, 2019
Paper No: IMECE2019-11170
...Abstract 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
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
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
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...