|
| << vorige | volgende >> |
Tijdschrift beschrijving
Alle jaargangen van het bijbehorende tijdschrift
Alle afleveringen van het bijbehorende jaargang
Alle artikelen van de bijbehorende aflevering
Details van artikel 52 van 191 gevonden artikelen
| Titel: |
Determination of Minimum-Time Maneuvers for a Robotic Manipulator Using Numerical Optimization Methods |
| Auteur: |
Heilig, Jurgen McPhee, John |
| Verschenen in: |
Mechanics based design of structures & machines |
| Paginering: | Jaargang 27 (1999) nr. 2 pagina's 185-201 |
| Jaar: |
1999 |
| Inhoud: |
The productivity of automated production lines depends on the velocities of operating robot manipulators. Hence, time-optimal control for working cycles of robot manipulators are of decisive importance. In this paper, the minimum-time retraction of a robot arm, subject to gravity and suspended on a prismatic-rotational joint, is investigated. Iterative integration methods using a B-spline representation for the actuator force and torque, a Runge-Kutta integration method, and a sequential quadratic programming optimization algorithm are used to calculate the time-optimal control and trajectories. Results show that nonlinear gravity and centrifugal effects are exploited very effectively, to obtain minimum-time maneuvers from an initial to a final state. These states also determine the switching structures of the control. It is demonstrated that even the simple retraction of a robot arm produces unexpectedly complex time-optimal solutions. |
| Uitgever: |
Taylor & Francis |
| Bronbestand: |
Elektronische Wetenschappelijke Tijdschriften |
Details van artikel 52 van 191 gevonden artikelen
| << vorige | volgende >> |