Analytical design of optimal trajectory with dynamic load-carrying capacity for cable-suspended manipulator

This paper describes the development of an approach for trajectory planning of cable-suspended parallel robots using optimal control approach. A prototype has been built, and tests have been carried out to verify the theoretical results. This paper briefly illustrates this device and presents some i...

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Bibliographic Details
Published in:International journal of advanced manufacturing technology 2012-04, Vol.60 (1-4), p.317-327
Main Authors: Korayem, Moharam Habibnejad, Bamdad, M., Tourajizadeh, H., Korayem, A. Habibnejad, Bayat, S.
Format: Article
Language:English
Subjects:
Actuators
Bearing strength
Boundary value problems
CAE) and Design
Computer-Aided Engineering (CAD
Control theory
Dynamic loads
Engineering
Industrial and Production Engineering
Load carrying capacity
Manipulators
Mathematical analysis
Mechanical Engineering
Media Management
Optimal control
Original Article
Robot control
Trajectory optimization
Trajectory planning
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Summary:This paper describes the development of an approach for trajectory planning of cable-suspended parallel robots using optimal control approach. A prototype has been built, and tests have been carried out to verify the theoretical results. This paper briefly illustrates this device and presents some initial tests. The final dynamic equations are organized in a closed form similar to serial manipulator equations. Dynamic load-carrying capacity problem is converted into a trajectory optimization problem which is fundamentally a constrained nonlinear optimization problem. The problem is formulated using optimal control theory, and the ideas are analyzed using Pontryagin’s minimum principle. The optimal solutions are found by solving the corresponding nonlinear two-point boundary value problems. The main objective is to find the manipulator load-carrying capacity in point-to-point task by considering actuator torque while cable forces are positive.
ISSN:0268-3768
1433-3015
DOI:10.1007/s00170-011-3579-9