Sub-optimal trajectory planning of flexible manipulator along specified path

Pritam Kumar Sarkar, Motoji Yamamoto, Akira Mohri

研究成果: 会議への寄与タイプ学会誌査読

4 被引用数 (Scopus)

抄録

Rapid end point positioning along a specified path is considered in this study. The structure between the actuator and the end point of the robot arm is assumed flexible and is the main cause of positioning error because of residual vibration. An algorithm, based on optimization of residual energy at the goal point and the fundamental property of time scaling of manipulator dynamics, is developed that, iteratively, determines the time optimal trajectory along the specified path under given start and end point conditions. It also considers the full nonlinear dynamics of the manipulator arm and its actuator saturation limit. The dynamics are described by finite element method using Lagrange's equation and are expressed by the time scale factor. The performance index is optimized successfully through off-line computation for a two link flexible manipulator, one example of which is described in detail.

本文言語英語
ページ1540-1545
ページ数6
出版ステータス出版済み - 12月 1 1997
イベントProceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Part 2 (of 3) - Grenoble, Fr
継続期間: 9月 7 19989月 11 1998

その他

その他Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Part 2 (of 3)
CityGrenoble, Fr
Period9/7/989/11/98

!!!All Science Journal Classification (ASJC) codes

  • 制御およびシステム工学
  • ソフトウェア
  • コンピュータ ビジョンおよびパターン認識
  • コンピュータ サイエンスの応用

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