This paper presents the approaches to real-time motion planning for robot application inflexible manufacturing systems(FMS).They are based on an algorithm for fast mapping ob-stacles from a workspace(W-space)into a co...This paper presents the approaches to real-time motion planning for robot application inflexible manufacturing systems(FMS).They are based on an algorithm for fast mapping ob-stacles from a workspace(W-space)into a configuration space(C-space)by defining funda-mental obstacles in W-space.To plan a collision-free path in a multiple robot system,sweptvolumes produced during master robot motion are computed as additional moving obstacleswhen a collision-free path for a slave robot is generated.For motion planning with many de-grees of freedom,several types of reactive behavior are defined to coordinate motion conflictsbetween different links.展开更多
The well-known Generalized Champagne Problem on simultaneous stabilization of linear systems is solved by using complex analysis and Blonders technique. We give a complete answer to the open problem proposed by Patel ...The well-known Generalized Champagne Problem on simultaneous stabilization of linear systems is solved by using complex analysis and Blonders technique. We give a complete answer to the open problem proposed by Patel et al., which automatically includes the solution to the original Champagne Problem. Based on the recent development in automated inequality-type theorem proving, a new stabilizing controller design method is established. Our numerical examples significantly improve the relevant results in the literature.展开更多
基金the High Technology Research and Development Programme of China.
文摘This paper presents the approaches to real-time motion planning for robot application inflexible manufacturing systems(FMS).They are based on an algorithm for fast mapping ob-stacles from a workspace(W-space)into a configuration space(C-space)by defining funda-mental obstacles in W-space.To plan a collision-free path in a multiple robot system,sweptvolumes produced during master robot motion are computed as additional moving obstacleswhen a collision-free path for a slave robot is generated.For motion planning with many de-grees of freedom,several types of reactive behavior are defined to coordinate motion conflictsbetween different links.
基金Supported by the National Natural Science Foundation of China (Grant Nos. 60572056, 60528007, 60334020, 60204006, 10471044, and 10372002)the National Key Basic Research and Development Program (Grant Nos. 2005CB321902, 2004CB318003, 2002CB312200)+1 种基金the Overseas Outstanding Young Researcher Foundation of Chinese Academy of Sciencesthe Program of National Key Laboratory of Intelligent Technology and Systems of Tsinghua University
文摘The well-known Generalized Champagne Problem on simultaneous stabilization of linear systems is solved by using complex analysis and Blonders technique. We give a complete answer to the open problem proposed by Patel et al., which automatically includes the solution to the original Champagne Problem. Based on the recent development in automated inequality-type theorem proving, a new stabilizing controller design method is established. Our numerical examples significantly improve the relevant results in the literature.
