Optimal Trajectory Planning with the Dynamic Load Carrying Capacity of a Flexible Cable-Suspended Manipulator
نویسندگان
چکیده
This paper presents an indirect method for computing optimal trajectory, subject to robot dynamics, exibilities and actuator constraints. One key-issue that arises from mechanism exibility is nding the Dynamic Load Carrying Capacity (DLCC). The motion planning problem is rst formulated as an optimization problem, and then solved using Pontryagin's minimum principle. The basic problem is converted to the Two-Point Boundary Value Problem (TPBVP), which includes joint exibility. Some examples are employed to compare three models, dynamic, exible joint, and rigid. The results illustrate the e ectiveness of this indirect method.
منابع مشابه
Optimal Trajectory of Flexible Manipulator with Maximum Load Carrying Capacity
In this paper, a new formulation along with numerical solution for the problem of finding a point-to-point trajectory with maximum load carrying capacities for flexible manipulators is proposed. For rigid manipulators, the major limiting factor in determining the Dynamic Load Carrying Capacity (DLCC) is the joint actuator capacity. The flexibility exhibited by light weight robots or by robots o...
متن کاملTrajectory Optimization of Cable Parallel Manipulators in Point-to-Point Motion
Planning robot trajectory is a complex task that plays a significant role in design and application of robots in task space. The problem is formulated as a trajectory optimization problem which is fundamentally a constrained nonlinear optimization problem. Open-loop optimal control method is proposed as an approach for trajectory optimization of cable parallel manipulator for a given two-end-po...
متن کاملDynamic Load Carrying Capacity of Flexible Manipulators Using Finite Element Method and Pontryagin’s Minimum Principle
In this paper, finding Dynamic Load Carrying Capacity (DLCC) of flexible link manipulators in point to-point motion was formulated as an optimal control problem. The finite element method was employed for modelling and deriving the dynamic equations of the system. The study employed indirect solution of optimal control for system motion planning. Due to offline nature of the method, many diffic...
متن کاملOptimal Load of Flexible Joint Mobile Robots Stability Approach
Optimal load of mobile robots, while carrying a load with predefined motion precision is an important consideration regarding their applications. In this paper a general formulation for finding maximum load carrying capacity of flexible joint mobile manipulators is presented. Meanwhile, overturning stability of the system and precision of the motion on the given end-effector trajectory are take...
متن کاملFirst Experimental Results of Load Carrying Capacity for a Planar Cable-suspended Manipulator
In this paper a performance analysis is presented for a cable-suspended parallel manipulator. Experimental results from some first tests are presented and discussed to validate the theoretical calculation of load carrying capacity. The loadcarrying capacity during a given trajectory is obtained. This computational technique is tested on a typical planar cable suspended manipulator. The experime...
متن کامل