Trajectory planning algorithms for cooperating robots

Selvi, Emre


Modelling, trajectory planning and control of computer controlled manipulators
Balkan, Tuna; Kaftanoğlu, Bilgin; Department of Mechanical Engineering (1988)
Control of a planar cable-actuated parallel manipulator with realistic cables
Düzgören, Onur; Özgören, Mustafa Kemal; Department of Mechanical Engineering (2018)
The cable-actuated parallel manipulators comprise a new class of robotic systems which utilize length-controlled unilateral force elements like cables or wires to move and orient an object. They provide several benefits over conventional parallel robots, such as larger workspace, simpler structure, and higher payload/manipulator weight ratio. However, the cables can only be pulled but not pushed. Besides, they may sag due to their own weight. Therefore, the cable-actuated manipulators pose challenges in mod...
Dynamic position controlof robot manipulators
Bodur, Mehmet; Sezer, Erol; Department of Electrical and Electronics Engineering (1991)
Intelligent gait control of a multilegged robot used in rescue operations
Karalarlı, Emre; Erkmen, Aydan Müşerref; Erkmen, İsmet; Department of Electrical and Electronics Engineering (2003)
In this thesis work an intelligent controller based on a gait synthesizer for a hexapod robot used in rescue operations is developed. The gait synthesizer draws decisions from insect-inspired gait patterns to the changing needs of the terrain and that of rescue. It is composed of three modules responsible for selecting a new gait, evaluating the current gait, and modifying the recommended gait according to the internal reinforcements of past time steps. A Fuzzy Logic Controller is implemented in selecting t...
Linearization and optimization of robot dynamics via inertial parameter design
Soylu, Reşit (1996-08-01)
In this article, the concept of linearity number (LN) is introduced to measure the ''linearity'' of the equations of motion of a serial manipulator. This number is computable in closed-form and is an average quantitative index of the degree of linearity of the robot over a specified region in the joint space. The definition is flexible, allowing the user to create custom-made definitions according to his or her specific needs. Using the concept of LN and the developed computer package CADLOR, one can design...
Citation Formats
E. Selvi, “Trajectory planning algorithms for cooperating robots,” M.S. - Master of Science, Middle East Technical University, 2003.