Multi-Constrained Optimal Control of 3D Robotic Arm Manipulators
スポンサーリンク
概要
- 論文の詳細を見る
This paper presents a generic method for optimal motion planning for three-dimensional 3-DOF multi-link robotic manipulators. We consider the operation of the manipulator systems, which involve constrained payload transportation/ capture/release, which is a subject to the minimization of the user-defined objective function, enabling for example minimization of the time of the transfer and/or actuation efforts. It should be stressed out that the task is solved in the presence of arbitrary multiple additional constraints. The solutions of the associated nonlinear differential equations of motion are obtained numerically using the direct transcription method. The direct method seeks to transform the continuous optimal control problem into a discrete mathematical programming problem, which in turn is solved using a non-linear programming algorithm. By discretizing the state and control variables at a series of nodes, the integration of the dynamical equations of motion is not required. The Chebyshev pseudospectral method, due to its high accuracy and fast computation times, was chosen as the direct optimization method to be employed to solve the problem. To illustrate the capabilities of the methodology, maneuvering of RRR 3D robot manipulators were considered in detail. Their optimal operations were simulated for the manipulators, binded to move their effectors along the specified 2D plane and 3D spherical and cylindrical surfaces (imitating for example, welding, tooling or scanning robots).
論文 | ランダム
- 日本アニメーション興国論
- マイクロソフトは不滅なのか
- 「未来投資特別勘定」五〇兆円で日本の構造転換を急げ
- 金融危機、遠のく総選挙、バラマキ…… 麻生・小沢で難局を乗り越えられるか (特集 危機の時代、どうする日本)
- 大蔵省から金融を引き離せ