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
  • [41] Dynamic Trajectory Planning for a Spatial Unconstrained Cable suspended Parallel Mechanism
    Tang, Lewei
    Wu, Li
    Xiao, Yukang
    2019 9TH IEEE ANNUAL INTERNATIONAL CONFERENCE ON CYBER TECHNOLOGY IN AUTOMATION, CONTROL, AND INTELLIGENT SYSTEMS (IEEE-CYBER 2019), 2019, : 1162 - 1165
  • [42] Compact Expressions of the Singularity Locus of Optimal Cable-Suspended Robots
    Dion-Gauvin, Pascal
    Gosselin, Clément
    Mechanisms and Machine Science, 2023, 148 : 22 - 31
  • [43] Optimal path planning and trajectory tracking of underactuated robots
    Liu, Qingbo
    Yu, Yueqing
    Su, Liying
    Jixie Gongcheng Xuebao/Journal of Mechanical Engineering, 2009, 45 (12): : 15 - 21
  • [44] Robust optimal trajectory planning for robots by stochastic optimization
    Marti, K
    Aurnhammer, A
    MATHEMATICAL AND COMPUTER MODELLING OF DYNAMICAL SYSTEMS, 2002, 8 (01) : 75 - 116
  • [45] Controlling a Quadrotor Carrying a Cable-Suspended Load to Pass Through a Window
    Guo, Minhuan
    Gu, Dongbing
    Zha, Wenzhong
    Zhu, Xinhua
    Su, Yan
    JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, 2020, 98 (02) : 387 - 401
  • [46] Controlling a Quadrotor Carrying a Cable-Suspended Load to Pass Through a Window
    Minhuan Guo
    Dongbing Gu
    Wenzhong Zha
    Xinhua Zhu
    Yan Su
    Journal of Intelligent & Robotic Systems, 2020, 98 : 387 - 401
  • [47] Overview of trajectory planning and control methods for cable-driven robots
    Qian, Sen
    Li, Chang-Qi
    Zhou, Bin
    Zi, Bin
    Kongzhi yu Juece/Control and Decision, 2024, 39 (09): : 2817 - 2832
  • [48] Determining maximum load carrying capacity of flexible link manipulators
    Korayem, M.H.
    Haghighi, R.
    Nikoobin, A.
    Alamdari, A.
    Korayem, A.H.
    Scientia Iranica, 2009, 16 (5 B) : 440 - 450
  • [49] Determining Maximum Load Carrying Capacity of Flexible Link Manipulators
    Korayem, M. H.
    Haghighi, R.
    Nikoobin, A.
    Alamdari, A.
    Korayem, A. H.
    SCIENTIA IRANICA TRANSACTION B-MECHANICAL ENGINEERING, 2009, 16 (05): : 440 - 450
  • [50] MAXIMUM LOAD CARRYING CAPACITY FOR MINIMUM MOUNTING SPACE.
    Baumann, Heinz
    Burkhard, Heinz
    Ball and Roller Bearing Engineering, 1980, 19 (01): : 20 - 23
12345