Optimal task planning and predictive online motion control for a multi-manipulator system

Nigora Gafur

doi:10.51202/9783186281081

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Bibliographic data

Publication year: 2025
Publication date: 13.03.2025
ISBN-Print: 978-3-18-528108-2
ISBN-Online: 978-3-18-628108-1
Publisher: VDI Verlag, Düsseldorf
Series: Mess-, Steuerungs- und Regelungstechnik
Volume: 1281
Language: German
Pages: 164
Product type: Book Titles

Titelei/Inhaltsverzeichnis No access Pages I - X
Introduction No access Pages 1 - 4
1. 1. Roadmaptechniques No access
  2. Cell decomposition methods No access
  3. Artificial potential field methods No access
  4. Sampling-based planners No access
2. 1. Optimization-based methods No access
  2. Grid-based search methods No access
  3. Alternativeapproaches No access
3. 1. Mathematical formulation No access
  2. Control schemes No access
  3. Collisionavoidance No access
  4. Review for robotic arm systems No access
4. 1. Review No access
  2. Deadlocks No access
  3. Multi-robot task allocation No access
5. Summary No access
1. Assumptions No access
2. 1. Object detection No access
  2. Optimization-based scheduling model No access
  3. Online trajectory generation using MPC No access
  4. Compensation of computation times No access
3. 1. Performance metrics No access
  2. Sortingtask No access
  3. Narrowpassageproblem No access
  4. Dynamically changing environment No access
4. Summary No access
1. Requirements and assumptions No access
2. Task and motion planning architecture No access
3. 1. Definitions No access
  2. Heuristic scheduling model No access
  3. Optimization-based scheduling model No access
  4. Proximity and concurrency constraints No access
  5. Constraints enforcing specific order of objects No access
4. 1. Inter-robot collision avoidance No access
  2. Comparison of centralized and distributed optimization No access
5. Reactive deadlock resolution approach No access
6. Summary No access
1. Generalsettings No access
2. Environmental modeling No access
3. 1. Heuristic task assignment No access
  2. Optimization-based task assignment No access
  3. Discussion No access
4. 1. Performance metrics No access
  2. Heuristic task assignment No access
  3. Optimization-based task assignment No access
  4. Scalabilityanalysis No access
  5. Discussion No access
5. Summary No access
1. Experimentalsetup No access
2. Object detection No access
3. Collision avoidance No access
4. 1. Scenario 1: Objects in close proximity No access
  2. Scenario 2: Objects lying on opposite sides of each robot No access
  3. Scenario 3: Assignment of objects to the same tray No access
5. 1. Heuristic task assignment No access
  2. Optimization-based task assignment No access
6. 1. Heuristic task assignment No access
  2. Optimization-based task assignment No access
7. Discussion No access
Conclusion and Outlook No access Pages 131 - 136
1. Model identification of an UR3 No access
2. ModelidentificationofanUR5e No access