OPTIMAL TRAJECTORY PLANNING WITH MAXIMUM LOAD CARRYING CAPACITY FOR CABLE SUSPENDED ROBOTS

被引：0
|
作者：
Korayem, Moharam Habibnejad [1 ]
Bamdad, Mahdi [2 ]
Bayat, Sharareh [3 ]
机构：
[1] Iran Univ Sci & Technol, Robot Res Lab, Tehran, Iran
[2] Semnan Univ, Dept Mech Engn, Semnan, Iran
[3] Islamic Azad Univ, Robot Res Lab, Tehran, Iran
来源：
2009 6TH INTERNATIONAL SYMPOSIUM ON MECHATRONICS AND ITS APPLICATIONS (ISMA) | 2009年
关键词：
MANIPULATORS;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, determination of the maximum-payload trajectory of cable-based parallel robot on the basis of the optimal control approach is presented. For capacity prediction, optimality conditions are obtained using the Pontryagin's minimum principle (PW) which leads to the bang-bang control in a two-point boundary value problem (TPBVP) solution.
引用
收藏
页码：394 / +
页数：2
相关论文
共 50 条
  • [21] Dynamic trajectory planning of reconfigurable suspended cable robot
    Syamlan A.T.
    Nurahmi L.
    Tamara M.N.
    Pramujati B.
    International Journal of Dynamics and Control, 2020, 8 (03) : 887 - 897
  • [22] TRAJECTORY PLANNING OF CABLE-SUSPENDED PARALLEL ROBOTS USING INTERVAL POSITIVE-DEFINITE POLYNOMIALS
    Ren, Ping
    Gosselin, Clement
    PROCEEDINGS OF THE ASME INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE 2012, VOL 4, PTS A AND B, 2012, : 867 - 875
  • [23] Dynamically feasible transition trajectory planning for three-dof cable-suspended parallel robots
    Jiang, Xiaoling
    Lin, Deng
    Li, Qinchuan
    2019 9TH IEEE ANNUAL INTERNATIONAL CONFERENCE ON CYBER TECHNOLOGY IN AUTOMATION, CONTROL, AND INTELLIGENT SYSTEMS (IEEE-CYBER 2019), 2019, : 789 - 794
  • [24] Load carrying capacity evaluation and task trajectory planning of space manipulator with the locked joint
    Jia Q.-X.
    Yuan B.-N.
    Chen G.
    Fu Y.-Z.
    Kongzhi yu Juece/Control and Decision, 2020, 35 (01): : 243 - 249
  • [25] Dynamic Load Carrying Capacity of Flexible Cable Suspended Robot: Robust Feedback Linearization Control Approach
    Moharam Habibnejad Korayem
    H. Tourajizadeh
    M. Bamdad
    Journal of Intelligent & Robotic Systems, 2010, 60 : 341 - 363
  • [26] Dynamic Load Carrying Capacity of Flexible Cable Suspended Robot: Robust Feedback Linearization Control Approach
    Korayem, Moharam Habibnejad
    Tourajizadeh, H.
    Bamdad, M.
    JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, 2010, 60 (3-4) : 341 - 363
  • [27] Determining maximum load-carrying capacity of robots using adaptive robust neural controller
    Korayem, M. H.
    Alamdari, A.
    Haghighi, R.
    Korayem, A. H.
    ROBOTICA, 2010, 28 : 1083 - 1093
  • [28] Optimal Trajectory Planning for Wheeled Robots (OTPWR): A Globally and Dynamically Optimal Trajectory Planning Method for Wheeled Mobile Robots
    Luo, Dingji
    Huang, Xuchao
    Huang, Yucan
    Miao, Mingda
    Gao, Xueshan
    MACHINES, 2024, 12 (10)
  • [29] Application of dynamic optimisation to the trajectory of a cable-suspended load
    Łukasz Drąg
    Nonlinear Dynamics, 2016, 84 : 1637 - 1653
  • [30] Application of dynamic optimisation to the trajectory of a cable-suspended load
    Drag, Lukasz
    NONLINEAR DYNAMICS, 2016, 84 (03) : 1637 - 1653
12345