Optimal Motion Planning for the Teaching Experimental Mobile Manipulator

Abstract:

An optimal motion planning based on minimum principle is presented to address the motion problem of the mobile manipulator in a sort of experimental system. In view of the characteristic of the practical experimental apparatus, the model of the manipulator is deduced based on the kinetic analysis and mathematic method. An optimal control scheme is then investigated to deal with the optimization problem of the motion planning for the manipulator, so as to guarantee the demand of the teaching experiment. Simulation verifies the control performance of the optimal control scheme for the optimal motion planning of the manipulator, and it helps improve the teaching experiment effect.

• Periodical: Applied Mechanics and Materials (Volumes 138-139)
• Pages: 56-61
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.138-139.56
• Online since: November 2011
• Authors: Huai Ping Zhou, Ping Ge, Yong Fang
• Keywords: Manipulator, Motion Planning, Optimal Control, Teaching Experiment System

References

[1] N. Sadati, A. Babazadeh. Optimal control of robot manipulators with a new two-level gradient-based approach. Electrical Engineering, Vol. 88. (2006), p.383–393.

DOI: 10.1007/s00202-005-0304-4

[2] T. Sugie,K. Fujimoto,Y. Kito. Obstacle avoidance of manipulators with rate constraint. IEEE Trans. Robotics and Automation , Vol. 19(1) (2003), pp.168-174.

DOI: 10.1109/tra.2002.807554

[3] M. A. Ahmad, R. M. Taufika, R. Ismail, M. S. Ramli. Optimal Control with Input Shaping for Input Tracking and Vibration Suppression of a Flexible Joint Manipulator. European Journal of Scientific Research, Vol. 4(28) (2009), pp.583-589.

DOI: 10.1109/icca.2009.5410429

[4] T. Oki, H. Nakanishi , K. Yoshida. Time-optimal manipulator control of a free-floating space robot with constraint on reaction torque. International Conference on Intelligent Robots and Systems. P. 2828-2833 (2008).

DOI: 10.1109/iros.2008.4650835

[5] E. Terceiro, A. T. Fleury. Trajectories of moving sliders for the optimal control of a flexible manipulator. ABCM Symposium Series in Mechatronics. 2008, 3. 378-385.

[6] R. J. Wai, M. C. Lee . Intelligent optimal control of single link flexible robot arm. IEEE Trans Industrial electronics., Vol. 51(1), (2004), p.201–220.

DOI: 10.1109/tie.2003.821895

[7] T. Mita, S.H. Hyon, T. K. Nam. Analytical time optimal control solution for a two-link planar acrobat with initial angular momentum. IEEE Trans Robotic and Automation, Vol. 17(3). (2001), p.361–366.

DOI: 10.1109/70.938392

[8] W. R. Doggett, W. C. Messner, J. N. Juang. Global minimization of the robot base reaction force during 3-D maneuvers [J]. IEEE Trans Robotic and Automation, Vol. 16(6). (2000), p.700–711.

DOI: 10.1109/70.897781

[9] Z. Shiller, H. Chang, V. Wong. The practical implementation of time-optimal control for robotic manipulators. Robotics Computer Integrate Manufacturing, Vol. 12(1). (1996), p.29–39.

DOI: 10.1016/0736-5845(95)00026-7

[10] A. Babazadeh, N. Sadati Optimal control of multiple-arm robotic systems using gradient method. Proceedings of IEEE Conference on Robotics, Automation and Mechatronics, p.312–317(2004).

DOI: 10.1109/ramech.2004.1438937

[11] Dwivedy S.K. Eberhard P Dynamic analysis of flexible manipulators literature review [J]. Mechanism and Machine Theory. Vol. 41(7), (2006), pp.749-777.

DOI: 10.1016/j.mechmachtheory.2006.01.014

[12] A. Mohri, S. Furuno, M. Iwamura, M. Yamamoto. Sub-Optimal Trajectory Planning of Mobile Manipulator. International Conference on Intelligent Robots and Systems, pp.1271-1276 (2001).

DOI: 10.1109/robot.2001.932785