A super redundant serpentine manipulator has slender structure and multiple degrees of freedom.It can travel through narrow spaces and move in complex spaces.This manipulator is composed of many modules that can form ...A super redundant serpentine manipulator has slender structure and multiple degrees of freedom.It can travel through narrow spaces and move in complex spaces.This manipulator is composed of many modules that can form different lengths of robot arms for different application sites.The increase in degrees of freedom causes the inverse kinematics of redundant manipulator to be typical and immensely increases the calculation load in the joint space.This paper presents an integrated optimization method to solve the path planning for obstacle avoidance and discrete trajectory tracking of a super redundant manipulator.In this integrated optimization,path planning is established on a Bezier curve,and particle swarm optimization is adopted to adjust the control points of the Bezier curve with the kinematic constraints of manipulator.A feasible obstacle avoidance path is obtained along with a discrete trajectory tracking by using a follow-the-leader strategy.The relative distance between each two discrete path points is limited to reduce the fitting error of the connecting rigid links to the smooth curve.Simulation results show that this integrated optimization method can rapidly search for the appropriate trajectory to guide the manipulator in obtaining the target while achieving obstacle avoidance and meeting joint constraints.The proposed algorithm is suitable for 3D space obstacle avoidance and multitarget path tracking.展开更多
In order to smooth the trajectory of a robot and reduce dwell time,a transition curve is introduced between two adjacent curves in three-dimensional space.G2 continuity is guaranteed to transit smoothly.To minimize th...In order to smooth the trajectory of a robot and reduce dwell time,a transition curve is introduced between two adjacent curves in three-dimensional space.G2 continuity is guaranteed to transit smoothly.To minimize the amount of calculation,cubic and quartic Bezier curves are both analyzed.Furthermore,the contour curve is characterized by a transition parameter which defines the distance to the corner of the deviation.How to define the transition points for different curves is presented.A general move command interface is defined for receiving the curve limitations and transition parameters.Then,how to calculate the control points of the cubic and quartic Bezier curves is analyzed and given.Different situations are discussed separately,including transition between two lines,transition between a line and a circle,and transition between two circles.Finally,the experiments are carried out on a six degree of freedom(DOF) industrial robot to validate the proposed method.Results of single transition and multiple transitions are presented.The trajectories in the joint space are also analyzed.The results indicate that the method achieves G2 continuity within the transition constraint and has good efficiency and adaptability.展开更多
This work demonstrates in practical terms the evolutionary concepts and computational applications of Parametric Curves.Specific cases were drawn from higher order parametric Bezier curves of degrees 2 and above.Bezie...This work demonstrates in practical terms the evolutionary concepts and computational applications of Parametric Curves.Specific cases were drawn from higher order parametric Bezier curves of degrees 2 and above.Bezier curves find real life applications in diverse areas of Engineering and Computer Science,such as computer graphics,robotics,animations,virtual reality,among others.Some of the evolutionary issues explored in this work are in the areas of parametric equations derivations,proof of related theorems,first and second order calculus related computations,among others.A Practical case is demonstrated using a graphical design,physical hand sketching,and programmatic implementation of two opposite-faced handless cups,all evolved using quadratic Bezier curves.The actual drawing was realized using web graphics canvas programming based on HTML 5 and JavaScript.This work will no doubt find relevance in computational researches in the areas of graphics,web programming,automated theorem proofs,robotic motions,among others.展开更多
A Bezier interpolation approach is proposed which uses local generation of endpoint slopes and forces the curve and the surface to pass through an arbitrarily specified point to control and modify the shape of curve a...A Bezier interpolation approach is proposed which uses local generation of endpoint slopes and forces the curve and the surface to pass through an arbitrarily specified point to control and modify the shape of curve and surface, making the result satisfactory.展开更多
针对茶园拖拉机(tractor in tea plantation,TTP)在作业时进行避障转弯极易发生侧翻、倾覆等安全问题,提出一种基于Bezier曲线优化的避障稳定路径控制方法.首先,从作业场景和运行稳定性两个方面进行运动学分析,系统分析了TTP安全作业特...针对茶园拖拉机(tractor in tea plantation,TTP)在作业时进行避障转弯极易发生侧翻、倾覆等安全问题,提出一种基于Bezier曲线优化的避障稳定路径控制方法.首先,从作业场景和运行稳定性两个方面进行运动学分析,系统分析了TTP安全作业特点;然后,针对TTP设计了一种避障路径规划系统方案及Bezier曲线路径优化控制方法,该方法拟合出的路径具有路径光滑、曲率连续、初末位置曲率相同等优点;最后,在CarSim仿真平台搭建TTP模型和坡道避障作业的环境模型,验证并分析横摆角速度、质心侧偏角两项重要的操稳性参数.结果表明:TTP在Bezier曲线拟合的避障路径控制方法下当运行速度小于转向极限速度时,运行稳定性良好,当转向速度超过极限速度的65.1%,其横摆角速度和质心侧偏角的超调量变化率分别达到了50.3%和78.6%;同时在该避障控制方法下,随着坡度的增加,即使速度保证在极限速度以下,TTP稳定性也会进一步恶化;在极限坡度角范围内,坡度角增大10°,其横摆角速度和质心侧偏角的超调量变化率平均达到了32.8%和14.5%.展开更多
Many works have investigated the problem of reparameterizing rational B^zier curves or surfaces via MSbius transformation to adjust their parametric distribution as well as weights, such that the maximal ratio of weig...Many works have investigated the problem of reparameterizing rational B^zier curves or surfaces via MSbius transformation to adjust their parametric distribution as well as weights, such that the maximal ratio of weights becomes smallerthat some algebraic and computational properties of the curves or surfaces can be improved in a way. However, it is an indication of veracity and optimization of the reparameterization to do prior to judge whether the maximal ratio of weights reaches minimum, and verify the new weights after MSbius transfor- mation. What's more the users of computer aided design softwares may require some guidelines for designing rational B6zier curves or surfaces with the smallest ratio of weights. In this paper we present the necessary and sufficient conditions that the maximal ratio of weights of the curves or surfaces reaches minimum and also describe it by using weights succinctly and straightway. The weights being satisfied these conditions are called being in the stable state. Applying such conditions, any giving rational B6zier curve or surface can automatically be adjusted to come into the stable state by CAD system, that is, the curve or surface possesses its optimal para- metric distribution. Finally, we give some numerical examples for demonstrating our results in important applications of judging the stable state of weights of the curves or surfaces and designing rational B6zier surfaces with compact derivative bounds.展开更多
Applying homogeneous coordinates, we extend a newly appeared algorithm of best constrained multi-degree reduc- tion for polynomial Bézier curves to the algorithms of constrained multi-degree reduction for rationa...Applying homogeneous coordinates, we extend a newly appeared algorithm of best constrained multi-degree reduc- tion for polynomial Bézier curves to the algorithms of constrained multi-degree reduction for rational Bézier curves. The idea is introducing two criteria, variance criterion and ratio criterion, for reparameterization of rational Bézier curves, which are used to make uniform the weights of the rational Bézier curves as accordant as possible, and then do multi-degree reduction for each component in homogeneous coordinates. Compared with the two traditional algorithms of "cancelling the best linear common divisor" and "shifted Chebyshev polynomial", the two new algorithms presented here using reparameterization have advantages of simplicity and fast computing, being able to preserve high degrees continuity at the end points of the curves, do multi-degree reduction at one time, and have good approximating effect.展开更多
The existing results of curve degree elevation mainly focus on the degree of algebraic polynomials. The paper considers the elevation of degree of the trigonometric polynomial, from a Bezier curve on the algebraic pol...The existing results of curve degree elevation mainly focus on the degree of algebraic polynomials. The paper considers the elevation of degree of the trigonometric polynomial, from a Bezier curve on the algebraic polynomial space, to a C-Bezier curve on the algebraic and trigonometric polynomial space. The matrix of degree elevation is obtained by an operator presentation and a derivation pyramid. It possesses not a recursive presentation but a direct expression. The degree elevation process can also be represented as a corner cutting form.展开更多
The monotonicity of a rational Bezier curve, usually related to an explicit function, is determined by the used coordinate system. However, the shape of the curve is independent of the coordinate system. To meet the a...The monotonicity of a rational Bezier curve, usually related to an explicit function, is determined by the used coordinate system. However, the shape of the curve is independent of the coordinate system. To meet the affine invariant property, a kind of generalized mono- tonicity, called direction monotonicity, is introduced for rational Bezier curves. The direction monotonicity is applied to both planar and space curves and to both Cartesian and affine co- ordinate systems, and it includes the traditional monotonicity as a subcase. By means of it, proper affine coordinate systems may be chosen to make some rational Bezier curves monotonic. Direction monotonic interpolation may be realized for some of the traditionally nonmonotonic data as well.展开更多
We establish several fundamental identities, including recurrence relations, degree elevation formulas, partition of unity and Marsden identity, for quantum Bernstein bases and quantum Bezier curves. We also develop t...We establish several fundamental identities, including recurrence relations, degree elevation formulas, partition of unity and Marsden identity, for quantum Bernstein bases and quantum Bezier curves. We also develop two term recurrence relations for quantum Bernstein bases and recursive evaluation algorithms for quantum Bezier curves. Our proofs use standard mathematical induction and other elementary techniques.展开更多
In order to get an approximation with better effect of pararneterization of Bezier curves, we proposed a method for arc-length parameterization and the corresponding algorithms by square approximation for the discrete...In order to get an approximation with better effect of pararneterization of Bezier curves, we proposed a method for arc-length parameterization and the corresponding algorithms by square approximation for the discrete even de-parameterization of the curves. This method is simple and easy to implement, and the property of the approximation has no change compared with the original curve. A quantitative criterion for estimating the effect of parameterization is also built to quantitatively characterize the parameterization effect of the algorithms. As a result, the nearly arc-length parameterized curve has a smaller relative deviation using either the algorithm with point constraint at endpoints or the algorithm with point constraint plus the first derivative constraint at endpoints. Experiments show that after re-parameterization with our algorithms, the relative deviation will have at least a 20% reduction.展开更多
Cubic algebraic hyperbolic (AH) Bézier curves and AH spline curves are defined with a positive parameter α in the space spanned by {1, t, sinht, cosht}. Modifying the value of α yields a family of AH Bézie...Cubic algebraic hyperbolic (AH) Bézier curves and AH spline curves are defined with a positive parameter α in the space spanned by {1, t, sinht, cosht}. Modifying the value of α yields a family of AH Bézier or spline curves with the family parameter α. For a fixed point on the original curve, it will move on a defined curve called "path of AH curve" (AH Bézier and AH spline curves) when α changes. We describe the geometric effects of the paths and give a method to specify a curve passing through a given point.展开更多
This paper presents a quadratic programming method for optimal multi-degree reduction of Bézier curves with G1-continuity. The L2 and l2 measures of distances between the two curves are used as the objective func...This paper presents a quadratic programming method for optimal multi-degree reduction of Bézier curves with G1-continuity. The L2 and l2 measures of distances between the two curves are used as the objective functions. The two additional parameters, available from the coincidence of the oriented tangents, are constrained to be positive so as to satisfy the solvability condition. Finally, degree reduction is changed to solve a quadratic problem of two parameters with linear constraints. Applica- tions of degree reduction of Bézier curves with their parameterizations close to arc-length parameterizations are also discussed.展开更多
In this paper, a simple method for merging of Bezier curves is presented by using constrained optimization method. The use of the “discrete” coefficient norm in L2 sense greatly simplifies the merging process. Furth...In this paper, a simple method for merging of Bezier curves is presented by using constrained optimization method. The use of the “discrete” coefficient norm in L2 sense greatly simplifies the merging process. Furthermore, continuity at the endpoint of curves are considered in the merging process.展开更多
基金Supported by National Natural Science Foundation of China(Grant No.61733017)Foundation of State Key Laboratory of Robotics of China(Grant No.2018O13)Shanghai Pujiang Program of China(Grant No.18PJD018).
文摘A super redundant serpentine manipulator has slender structure and multiple degrees of freedom.It can travel through narrow spaces and move in complex spaces.This manipulator is composed of many modules that can form different lengths of robot arms for different application sites.The increase in degrees of freedom causes the inverse kinematics of redundant manipulator to be typical and immensely increases the calculation load in the joint space.This paper presents an integrated optimization method to solve the path planning for obstacle avoidance and discrete trajectory tracking of a super redundant manipulator.In this integrated optimization,path planning is established on a Bezier curve,and particle swarm optimization is adopted to adjust the control points of the Bezier curve with the kinematic constraints of manipulator.A feasible obstacle avoidance path is obtained along with a discrete trajectory tracking by using a follow-the-leader strategy.The relative distance between each two discrete path points is limited to reduce the fitting error of the connecting rigid links to the smooth curve.Simulation results show that this integrated optimization method can rapidly search for the appropriate trajectory to guide the manipulator in obtaining the target while achieving obstacle avoidance and meeting joint constraints.The proposed algorithm is suitable for 3D space obstacle avoidance and multitarget path tracking.
基金Supported by the National High Technology Research and Development Programme of China(No. 2006AAllZ225) and the National Natural Science Foundation of China (No. 60605026, 60635010).
基金Supported by the National Natural Science Foundation of China(No.61573358)Research and Development of Large Multi-function Demolition Equipment in Disaster Site(No.2015BAK06B00)
文摘In order to smooth the trajectory of a robot and reduce dwell time,a transition curve is introduced between two adjacent curves in three-dimensional space.G2 continuity is guaranteed to transit smoothly.To minimize the amount of calculation,cubic and quartic Bezier curves are both analyzed.Furthermore,the contour curve is characterized by a transition parameter which defines the distance to the corner of the deviation.How to define the transition points for different curves is presented.A general move command interface is defined for receiving the curve limitations and transition parameters.Then,how to calculate the control points of the cubic and quartic Bezier curves is analyzed and given.Different situations are discussed separately,including transition between two lines,transition between a line and a circle,and transition between two circles.Finally,the experiments are carried out on a six degree of freedom(DOF) industrial robot to validate the proposed method.Results of single transition and multiple transitions are presented.The trajectories in the joint space are also analyzed.The results indicate that the method achieves G2 continuity within the transition constraint and has good efficiency and adaptability.
文摘This work demonstrates in practical terms the evolutionary concepts and computational applications of Parametric Curves.Specific cases were drawn from higher order parametric Bezier curves of degrees 2 and above.Bezier curves find real life applications in diverse areas of Engineering and Computer Science,such as computer graphics,robotics,animations,virtual reality,among others.Some of the evolutionary issues explored in this work are in the areas of parametric equations derivations,proof of related theorems,first and second order calculus related computations,among others.A Practical case is demonstrated using a graphical design,physical hand sketching,and programmatic implementation of two opposite-faced handless cups,all evolved using quadratic Bezier curves.The actual drawing was realized using web graphics canvas programming based on HTML 5 and JavaScript.This work will no doubt find relevance in computational researches in the areas of graphics,web programming,automated theorem proofs,robotic motions,among others.
文摘A Bezier interpolation approach is proposed which uses local generation of endpoint slopes and forces the curve and the surface to pass through an arbitrarily specified point to control and modify the shape of curve and surface, making the result satisfactory.
基金Supported by National Natural Science Foundation of China (61272307, 11201422), Natural Science Foundation of Zhejiang Province (Y6110639, LQ13A010004, Yl110034)
基金Supported by the Ministry of Research,Technology,and Higher Education Republic of Indonesia,through the Budget Implementation List(DIPA)of Diponegoro University,Grant No.DIPA-023.04.02.189185/2014,December 05,2013
文摘优化分析和计算液体动力学(CFD ) 同时被使用了,在哪个一个参量的模型在发现最佳的答案起一个重要作用。然而,与不规则的曲线为复杂形状创造一个参量的模型是困难的,例如一种海底的壳形式。在这研究,立方的 Bezier 曲线和曲线飞机交叉方法被用来产生考虑三个输入参数的一种参量的海底的壳形式的一个稳固的模型:鼻子半径,尾巴半径,和长度高度壳比率(L/H ) 。应用程序接口(API ) 脚本也被用来在 ANSYS 设计 modeler 写代码。结果证明海底的形状能与输入参数的某变化被产生。一个例子被给那显示出建议方法怎么能成功地被用于一个壳抵抗优化盒子。中间的海底的类型的参量的设计被选择被修改。首先,预先,原来的海底的模型用 CFD 被分析。然后,使用反应表面图,某候选人有一个最小的壳抵抗系数的最佳的图案被获得。进一步,在目标驱动的优化(GDO ) 的优化方法被实现与最小的壳抵抗系数发现海底的壳形式(C <sub> t </sub>) 。最小的 C <sub> t </sub> 被获得。在在起始的潜水艇和最佳潜水艇之间的 C <sub> t </sub> 价值的计算差别在 0.26% 附近,与起始的潜水艇和是的最佳潜水艇的 C <sub> t </sub> 0.001 508 26 和 0.001 504 29 分别地。结果证明最佳潜水艇壳形式显示出更高的鼻子半径(r <sub> n </sub>) 和更高的 L/H 起始的潜水艇比那些塑造,当时尾巴的半径(r <sub> t </sub>) 比起始的形状的小。
文摘针对茶园拖拉机(tractor in tea plantation,TTP)在作业时进行避障转弯极易发生侧翻、倾覆等安全问题,提出一种基于Bezier曲线优化的避障稳定路径控制方法.首先,从作业场景和运行稳定性两个方面进行运动学分析,系统分析了TTP安全作业特点;然后,针对TTP设计了一种避障路径规划系统方案及Bezier曲线路径优化控制方法,该方法拟合出的路径具有路径光滑、曲率连续、初末位置曲率相同等优点;最后,在CarSim仿真平台搭建TTP模型和坡道避障作业的环境模型,验证并分析横摆角速度、质心侧偏角两项重要的操稳性参数.结果表明:TTP在Bezier曲线拟合的避障路径控制方法下当运行速度小于转向极限速度时,运行稳定性良好,当转向速度超过极限速度的65.1%,其横摆角速度和质心侧偏角的超调量变化率分别达到了50.3%和78.6%;同时在该避障控制方法下,随着坡度的增加,即使速度保证在极限速度以下,TTP稳定性也会进一步恶化;在极限坡度角范围内,坡度角增大10°,其横摆角速度和质心侧偏角的超调量变化率平均达到了32.8%和14.5%.
基金Supported by the National Nature Science Foundations of China(61070065)
文摘Many works have investigated the problem of reparameterizing rational B^zier curves or surfaces via MSbius transformation to adjust their parametric distribution as well as weights, such that the maximal ratio of weights becomes smallerthat some algebraic and computational properties of the curves or surfaces can be improved in a way. However, it is an indication of veracity and optimization of the reparameterization to do prior to judge whether the maximal ratio of weights reaches minimum, and verify the new weights after MSbius transfor- mation. What's more the users of computer aided design softwares may require some guidelines for designing rational B6zier curves or surfaces with the smallest ratio of weights. In this paper we present the necessary and sufficient conditions that the maximal ratio of weights of the curves or surfaces reaches minimum and also describe it by using weights succinctly and straightway. The weights being satisfied these conditions are called being in the stable state. Applying such conditions, any giving rational B6zier curve or surface can automatically be adjusted to come into the stable state by CAD system, that is, the curve or surface possesses its optimal para- metric distribution. Finally, we give some numerical examples for demonstrating our results in important applications of judging the stable state of weights of the curves or surfaces and designing rational B6zier surfaces with compact derivative bounds.
基金Project supported by the National Basic Research Program (973) of China (No. 2004CB719400)the National Natural Science Founda-tion of China (Nos. 60673031 and 60333010)the National Natural Science Foundation for Innovative Research Groups of China (No. 60021201)
文摘Applying homogeneous coordinates, we extend a newly appeared algorithm of best constrained multi-degree reduc- tion for polynomial Bézier curves to the algorithms of constrained multi-degree reduction for rational Bézier curves. The idea is introducing two criteria, variance criterion and ratio criterion, for reparameterization of rational Bézier curves, which are used to make uniform the weights of the rational Bézier curves as accordant as possible, and then do multi-degree reduction for each component in homogeneous coordinates. Compared with the two traditional algorithms of "cancelling the best linear common divisor" and "shifted Chebyshev polynomial", the two new algorithms presented here using reparameterization have advantages of simplicity and fast computing, being able to preserve high degrees continuity at the end points of the curves, do multi-degree reduction at one time, and have good approximating effect.
基金Supported by the National Natural Science Foundation of China(61402201,11326243,61272300,11371174)the Jiangsu Natural Science Foundation of China(BK20130117)
文摘The existing results of curve degree elevation mainly focus on the degree of algebraic polynomials. The paper considers the elevation of degree of the trigonometric polynomial, from a Bezier curve on the algebraic polynomial space, to a C-Bezier curve on the algebraic and trigonometric polynomial space. The matrix of degree elevation is obtained by an operator presentation and a derivation pyramid. It possesses not a recursive presentation but a direct expression. The degree elevation process can also be represented as a corner cutting form.
基金Supported by the National Natural Science Foundation of China(6140220111326243+3 种基金612723001137117411501252)the Jiangsu Natural Science Foundation of China(BK20130117)
文摘The monotonicity of a rational Bezier curve, usually related to an explicit function, is determined by the used coordinate system. However, the shape of the curve is independent of the coordinate system. To meet the affine invariant property, a kind of generalized mono- tonicity, called direction monotonicity, is introduced for rational Bezier curves. The direction monotonicity is applied to both planar and space curves and to both Cartesian and affine co- ordinate systems, and it includes the traditional monotonicity as a subcase. By means of it, proper affine coordinate systems may be chosen to make some rational Bezier curves monotonic. Direction monotonic interpolation may be realized for some of the traditionally nonmonotonic data as well.
文摘We establish several fundamental identities, including recurrence relations, degree elevation formulas, partition of unity and Marsden identity, for quantum Bernstein bases and quantum Bezier curves. We also develop two term recurrence relations for quantum Bernstein bases and recursive evaluation algorithms for quantum Bezier curves. Our proofs use standard mathematical induction and other elementary techniques.
基金The National Natural Science Foundationof China (No.60672135)the Natural Science Foundation of Department of Education of Shaanxi Province, China(No.09JK809)
文摘In order to get an approximation with better effect of pararneterization of Bezier curves, we proposed a method for arc-length parameterization and the corresponding algorithms by square approximation for the discrete even de-parameterization of the curves. This method is simple and easy to implement, and the property of the approximation has no change compared with the original curve. A quantitative criterion for estimating the effect of parameterization is also built to quantitatively characterize the parameterization effect of the algorithms. As a result, the nearly arc-length parameterized curve has a smaller relative deviation using either the algorithm with point constraint at endpoints or the algorithm with point constraint plus the first derivative constraint at endpoints. Experiments show that after re-parameterization with our algorithms, the relative deviation will have at least a 20% reduction.
基金the National Natural Science Foundation of China (No. 60773179)the National Basic Research Program (973) of China (No. G2004CB318000)the School Scientific Research Foundation of Hangzhou Dianzi University (No. KYS091507070), China
文摘Cubic algebraic hyperbolic (AH) Bézier curves and AH spline curves are defined with a positive parameter α in the space spanned by {1, t, sinht, cosht}. Modifying the value of α yields a family of AH Bézier or spline curves with the family parameter α. For a fixed point on the original curve, it will move on a defined curve called "path of AH curve" (AH Bézier and AH spline curves) when α changes. We describe the geometric effects of the paths and give a method to specify a curve passing through a given point.
基金Project supported by the National Natural Science Foundation ofChina (No. 60473130)the National Basic Research Program(973) of China (No. G2004CB318000)
文摘This paper presents a quadratic programming method for optimal multi-degree reduction of Bézier curves with G1-continuity. The L2 and l2 measures of distances between the two curves are used as the objective functions. The two additional parameters, available from the coincidence of the oriented tangents, are constrained to be positive so as to satisfy the solvability condition. Finally, degree reduction is changed to solve a quadratic problem of two parameters with linear constraints. Applica- tions of degree reduction of Bézier curves with their parameterizations close to arc-length parameterizations are also discussed.
文摘In this paper, a simple method for merging of Bezier curves is presented by using constrained optimization method. The use of the “discrete” coefficient norm in L2 sense greatly simplifies the merging process. Furthermore, continuity at the endpoint of curves are considered in the merging process.