A NOVEL ALGORITHM FOR TIME OPTIMAL TRAJECTORY PLANNING OF ROBOTIC MANIPULATORS
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21220%2F18%3A00327072" target="_blank" >RIV/68407700:21220/18:00327072 - isvavai.cz</a>
Result on the web
—
DOI - Digital Object Identifier
—
Alternative languages
Result language
angličtina
Original language name
A NOVEL ALGORITHM FOR TIME OPTIMAL TRAJECTORY PLANNING OF ROBOTIC MANIPULATORS
Original language description
This article proposes a most efficient and novel algorithm using Pontryagin’s maximum principle in the category of indirect methods for the synthesis of energetically optimal trajectory control of industrial robots. The proposed algorithm satisfies all constraints thereby providing an efficient treatment for constraints in each time step per iteration. Therefore, each iteration is completely applicable. The algorithm is validated with the help of numerical simulations for an equally actuated 2-link robotic manipulator platform. The algorithm presented herein is catered for the time and energetically optimal position tracking control of equally actuated 2-link robotic platform. The efficiency of algorithm is evaluated on the basis of performance index minimization for a suitable admissible range of performance ratio. In the work presented here, the major contribution is to find such time varying performance ratio function which is defined in the form of a spline function and satisfies the boundary constraints and decreases the performance index for all values defined within its range. The mentioned spline function is further incorporated in a sub-optimal control framework based on Pontryagin’s maximum principle. The results are shown in the form of simulations for a 2-link equally actuated manipulator.
Czech name
—
Czech description
—
Classification
Type
D - Article in proceedings
CEP classification
—
OECD FORD branch
20301 - Mechanical engineering
Result continuities
Project
—
Continuities
S - Specificky vyzkum na vysokych skolach
Others
Publication year
2018
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
25th Workshop of Applied Mechanics - Proceedings
ISBN
978-80-01-06536-5
ISSN
—
e-ISSN
—
Number of pages
3
Pages from-to
56-58
Publisher name
České vysoké učení technické v Praze, Fakulta strojní
Place of publication
Praha
Event location
Praha
Event date
Dec 7, 2018
Type of event by nationality
CST - Celostátní akce
UT code for WoS article
—