A NOVEL ALGORITHM FOR TIME OPTIMAL TRAJECTORY PLANNING OF ROBOTIC MANIPULATORS

Kód výsledku v IS VaVaI

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Výsledek na webu

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DOI - Digital Object Identifier

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Jazyk výsledku

angličtina

Název v původním jazyce

A NOVEL ALGORITHM FOR TIME OPTIMAL TRAJECTORY PLANNING OF ROBOTIC MANIPULATORS

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

A NOVEL ALGORITHM FOR TIME OPTIMAL TRAJECTORY PLANNING OF ROBOTIC MANIPULATORS

Popis výsledku anglicky

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.

Druh

D - Stať ve sborníku

CEP obor

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OECD FORD obor

20301 - Mechanical engineering

Projekt

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Návaznosti

S - Specificky vyzkum na vysokych skolach

Rok uplatnění

2018

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

25th Workshop of Applied Mechanics - Proceedings

ISBN

978-80-01-06536-5

ISSN

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e-ISSN

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Počet stran výsledku

3

Strana od-do

56-58

Název nakladatele

České vysoké učení technické v Praze, Fakulta strojní

Místo vydání

Praha

Místo konání akce

Praha

Datum konání akce

7. 12. 2018

Typ akce podle státní příslušnosti

CST - Celostátní akce

Kód UT WoS článku

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