Finding Time-Optimal Trajectories for the Resonating Arm using the RRT* Algorithm

Finding Time-Optimal Trajectories for the Resonating Arm using the RRT* Algorithm

Loeve, J.W.

Van der Helm, F.C.T. (mentor)
Wisse, M. (mentor)

Mechanical, Maritime and Materials Engineering

BioMechanical Engineering

BMD

2012-08-29

At the Delft Biorobotics Lab, a research project is started whereby it is the goal to create robotic arms that have the skills and the design to perform repetitive tasks in a natural dynamic manner. Within this project an energy efficient two degree-of-freedom robotic arm is designed, the so-called Resonating Arm. This thesis focuses on finding the time-optimal movements (around obstacles) for the Resonating Arm. These time-optimal trajectories are found with the RRT* algorithm, a novel asymptotic optimal motion planning algorithm.

RRT*
resonating arm
time-optimal

http://resolver.tudelft.nl/uuid:8f2867a1-1441-470c-be26-40be7df3f657

2012-09-28

Student theses

master thesis

(c) 2012 Loeve, J.W.