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
  • [31] Randomized Kinodynamic Planning for Cable-Suspended Parallel Robots
    Bordalba, Ricard
    Porta, Josep M.
    Ros, Lluis
    CABLE-DRIVEN PARALLEL ROBOTS, 2018, 53 : 195 - 206
  • [32] Optimal design of radial cylindrical roller bearings for maximum load-carrying capacity
    Dragoni, Eugenio
    PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE, 2013, 227 (11) : 2393 - 2401
  • [33] Dynamic Trajectory Planning of Planar Two-dof Redundantly Actuated Cable-suspended Parallel Robots
    Tang, Lewei
    Gosselin, Clement
    Tang, Xiaoqiang
    Jiang, Xiaoling
    2014 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2014), 2014, : 3874 - 3879
  • [34] Periodic Trajectory Planning Beyond the Static Workspace for 6-DOF Cable-Suspended Parallel Robots
    Jiang, Xiaoling
    Barnett, Eric
    Gosselin, Clement
    IEEE TRANSACTIONS ON ROBOTICS, 2018, 34 (04) : 1128 - 1140
  • [35] Synthesis of Cable Driven Robots' dynamic motion with maximum load carrying capacities: Iterative Linear Programming approach
    Korayem, M.H.
    Najafi, Kh.
    Bamdad, M.
    Scientia Iranica, 2010, 17 (3 B) : 229 - 239
  • [36] OPTIMAL TRAJECTORY PLANNING WITH APPLICATION TO INDUSTRIAL ROBOTS
    WAPENHANS, H
    HOLZL, J
    STEINLE, J
    PFEIFFER, F
    INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY, 1994, 9 (01): : 49 - 55
  • [37] Synthesis of Cable Driven Robots' Dynamic Motion with Maximum Load Carrying Capacities: Iterative Linear Programming Approach
    Korayem, M. H.
    Najafi, Kh.
    Bamdad, M.
    SCIENTIA IRANICA TRANSACTION B-MECHANICAL ENGINEERING, 2010, 17 (03): : 229 - 239
  • [38] A New Methodology for Solving Trajectory Planning and Dynamic Load-Carrying Capacity of a Robot Manipulator
    Guo, Wanjin
    Li, Ruifeng
    Cao, Chuqing
    Tong, Xunwei
    Gao, Yunfeng
    MATHEMATICAL PROBLEMS IN ENGINEERING, 2016, 2016
  • [39] Dynamic trajectory planning study of planar two-dof redundantly actuated cable-suspended parallel robots
    Tang, Lewei
    Tang, Xiaoqiang
    Jiang, Xiaoling
    Gosselin, Clement
    MECHATRONICS, 2015, 30 : 187 - 197
  • [40] Time Optimal Trajectory Tracking of Redundant Planar Cable-Suspended Robots Considering Both Tension and Velocity Constraints
    Fahham, Hamid Reza
    Farid, Mehrdad
    Khooran, Moosa
    JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME, 2011, 133 (01):
12345