Content

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   Contents
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   List of Abbreviations
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   List of Symbols
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   List of Figures
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   List of Tables
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   Introduction
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   Motivation and Objectives
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   Main Contributions
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   Thesis Outline
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  Literature Review
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   Path Planning
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   Trajectory Optimization
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   On-line Trajectory Tracking
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   Scientific Gaps
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  Delta Parallel Robot
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   Delta Parallel Robot Structure
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  Kinematics of Delta Parallel Robot
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   Inverse Kinematics
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   Forward Kinematics
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   Jacobian Matrix
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  Path Planning
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  Path Planning using Probabilistic Roadmap (PRM)
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   Learning Phase
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   Query Phase
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   Path Planning using Genetic Algorithm
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   Population Initialization
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   Cost Function
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   Selection Method
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   Crossover
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   Elitism
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   Mutation
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   Pseudo-Code for Genetic Algorithm
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   Numerical Examples
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  Example 1
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   Solution using GA
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   Solution using PRM
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  Example 2
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   Solution using GA
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   Solution using PRM
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   Comparison between GA and PRM
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  Trajectory Optimization
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  Trajectory Optimization using Phase-Plane Method
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   Transformation of Joint Space to Path Parameter
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   Problem Formulation
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  Phase-Plane Method
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   Case-1 (Single Switching Point)
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   Case-2 (Multiple Switching Points)
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  Trajectory Optimization using Dynamic Programming
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   Dynamic Programming using Path Parameter
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   Dynamic Programming using Joint Coordinates
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   Flaws in Singh and Leu's Algorithm
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   Joint Selection Criterion
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   Trajectory Optimization using Discrete Mechanics and Optimal Control
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   Problem Formulation
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   Discretization
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   Boundary Conditions
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   Practical Implementation
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   Trajectory Optimization of Predefined Geometrical Path using DMOC
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  Numerical Example
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   Example 1
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   Example 2
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   Comparison of Different Optimization Techniques
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  Simultaneous Path Planning and Trajectory Optimization
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   Problem Formulation
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   Solution using Discrete Mechanics and Optimal Control (DMOC)
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   Practical Implementation
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   Numerical Examples
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   Example 1
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   Example 2
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   Comparison of Simultaneous Path Planning and Trajectory Optimization with Conventional Methods
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  Summary and Outlook
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   Summary and Outlook
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   Future Work
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  Appendix
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  Dynamical Model and Energy Equations for Delta Parallel Robot
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   Dynamical Model of Delta Parallel Robot
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   Simplifying Hypothesis
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   Dynamic Parameters
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   Dynamical Model based on Virtual Work Principle
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   Energy Equations for Delta Parallel Robot
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  Algorithms for Path Planning
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   Algorithm for Path Planning using PRM
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   Learning Phase
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   Query Phase
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   Algorithm for Path Planning using GA
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  Algorithms for Trajectory Optimization
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   Dynamic Programming using Path Parameter
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   Dynamic Programming using Joint Coordinates
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   Bibliography