hrcak mascot   Srce   HID

Izvorni znanstveni članak
https://doi.org/10.31803/tg-20181112104935

Minimum-time path planning for robot manipulators using path parameter optimization with external force and frictions

Habib Ghanbarpour Asl ; University of Turkish Aeronautical Association, Department of Mechatronics, Bahçekapı Mahallesi, Okul Sk. No: 11, 06790 Etimesgut/Ankara, Turkey

Puni tekst: engleski, pdf (1 MB) str. 25-35 preuzimanja: 583* citiraj
APA 6th Edition
Ghanbarpour Asl, H. (2019). Minimum-time path planning for robot manipulators using path parameter optimization with external force and frictions. Tehnički glasnik, 13 (1), 25-35. https://doi.org/10.31803/tg-20181112104935
MLA 8th Edition
Ghanbarpour Asl, Habib. "Minimum-time path planning for robot manipulators using path parameter optimization with external force and frictions." Tehnički glasnik, vol. 13, br. 1, 2019, str. 25-35. https://doi.org/10.31803/tg-20181112104935. Citirano 09.05.2021.
Chicago 17th Edition
Ghanbarpour Asl, Habib. "Minimum-time path planning for robot manipulators using path parameter optimization with external force and frictions." Tehnički glasnik 13, br. 1 (2019): 25-35. https://doi.org/10.31803/tg-20181112104935
Harvard
Ghanbarpour Asl, H. (2019). 'Minimum-time path planning for robot manipulators using path parameter optimization with external force and frictions', Tehnički glasnik, 13(1), str. 25-35. https://doi.org/10.31803/tg-20181112104935
Vancouver
Ghanbarpour Asl H. Minimum-time path planning for robot manipulators using path parameter optimization with external force and frictions. Tehnički glasnik [Internet]. 2019 [pristupljeno 09.05.2021.];13(1):25-35. https://doi.org/10.31803/tg-20181112104935
IEEE
H. Ghanbarpour Asl, "Minimum-time path planning for robot manipulators using path parameter optimization with external force and frictions", Tehnički glasnik, vol.13, br. 1, str. 25-35, 2019. [Online]. https://doi.org/10.31803/tg-20181112104935

Sažetak
This paper presents a new minimum-time trajectory planning method which consists of a desired path in the Cartesian space to a manipulator under external forces subject to the input voltage of the actuators. Firstly, the path is parametrized with an unknown parameter called a path parameter. This parameter is considered a function of time and an unknown parameter vector for optimization. Secondly, the optimization problem is converted into a regular parameter optimization problem, subject to the equations of motion and limitations in angular velocity, angular acceleration, angular jerk, input torques of actuators’, input voltage and final time, respectively. In the presented algorithm, the final time of the task is divided into known partitions, and the final time is an additional unknown variable in the optimization problem. The algorithm attempts to minimize the final time by optimizing the path parameter, thus it is parametrized as a polynomial of time with some unknown parameters. The algorithm can have a smooth input voltage in an allowable range; then all motion parameters and the jerk will remain smooth. Finally, the simulation study shows that the presented approach is efficient in the trajectory planning for a manipulator that wants to follow a Cartesian path. In simulations, the constraints are respected, and all motion variables and path parameters remain smooth.

Ključne riječi
constrained optimization; dynamic constraints; minimum-time robot path planning; path parameter optimization; trajectory tracking

Hrčak ID: 218160

URI
https://hrcak.srce.hr/218160

Posjeta: 851 *