Related papers: Optimisation of tool axis orientation in 5 axis ma…
In this paper we address several constrained transportation optimization problems (e.g. vehicle routing, shortest Hamiltonian path), for which we present novel algorithmic solutions and extensions, considering several optimization…
Nowadays, high-speed machining is usually used for production of hardened material parts with complex shapes such as dies and molds. In such parts, tool paths generated for bottom machining feature with the conventional parallel plane…
The Orthoglide project aims at designing a new 3-axis machine tool for High Speed Machining. Basis kinematics is a 3 degree-of-freedom translational parallel mechanism. This basis was submitted to isotropic and manipulability constraints…
An effective method for optimizing path planning for a specific model of a 6-degree-of-freedom (6-DOF) robot manipulator is presented as part of the motion planning of the manipulator using computer algebra. We assume that we are given a…
Recently, machine learning (ML) methods have been developed for increasing the accuracy of robot mechanisms. Complex mechanical issues such as non-linear friction, backlash, flexibility of structure transmission elements can cause these…
In order for a bimanual robot to manipulate an object that is held by both hands, it must construct motion plans such that the transformation between its end effectors remains fixed. This amounts to complicated nonlinear equality…
Robotic manipulation demands precise control over both contact forces and motion trajectories. While force control is essential for achieving compliant interaction and high-frequency adaptation, it is limited to operations in close…
Trimming is a core technique in geometric modeling. Unfortunately, the resulting objects do not take the requirements of numerical simulations into account and yield various problems. This paper outlines principal issues of trimmed models…
In the design stage of robotic hands, it is not straightforward to quantitatively evaluate the effect of phalanx length ratios on dexterity without defining specific objects or manipulation tasks. Therefore, this study presents a framework…
Headland maneuvering is a crucial aspect of unmanned field operations for autonomous agricultural vehicles (AAVs). While motion planning for headland turning in open fields has been extensively studied and integrated into commercial…
Industrial automation with six-axis robotic arms is critical for many manufacturing tasks, including welding and additive manufacturing applications; however, many of these operations are functionally redundant due to the symmetrical tool…
Complex engineering problems can be modelled as optimisation problems. For instance, optimising engines, materials, components, structure, aerodynamics, navigation, control, logistics, and planning is essential in aerospace. Metaheuristics…
In robot-assisted minimally invasive surgery (RMIS), inverse kinematics (IK) must satisfy a remote center of motion (RCM) constraint to prevent tissue damage at the incision point. However, most of existing IK methods do not account for the…
When executing a certain task, human beings can choose or make an appropriate tool to achieve the task. This research especially addresses the optimization of tool shape for robotic tool-use. We propose a method in which a robot obtains an…
Bipedal robots have received much attention because of the variety of motion maneuvers that they can produce, and the many applications they have in various areas including rehabilitation. One of these motion maneuvers is walking. In this…
Manifold optimization is ubiquitous in computational and applied mathematics, statistics, engineering, machine learning, physics, chemistry and etc. One of the main challenges usually is the non-convexity of the manifold constraints. By…
We study the path planning problem for continuum-arm robots, in which we are given a starting and an end point, and we need to compute a path for the tip of the continuum arm between the two points. We consider both cases where obstacles…
Planning for legged-wheeled machines is typically done using trajectory optimization because of many degrees of freedom, thus rendering legged-wheeled planners prone to falling prey to bad local minima. We present a combined sampling and…
We propose two new alternating direction methods to solve "fully" nonsmooth constrained convex problems. Our algorithms have the best known worst-case iteration-complexity guarantee under mild assumptions for both the objective residual and…
Tow steering technologies, such as Automated fiber placement, enable the fabrication of composite laminates with curvilinear fiber, tow, or tape paths. Designers may therefore tailor tow orientations locally according to the expected local…