Minimum-time optimal control of robotic manipulators based on Hamel's integrators

被引：4
|
作者：
An, Zhipeng [1 ]
Wu, Huibin [1 ]
Shi, Donghua [1 ]
机构：
[1] Beijing Inst Technol, Sch Math & Stat, Beijing 100081, Peoples R China
来源：
MECCANICA | 2019年 / 54卷 / 15期
基金：
中国国家自然科学基金;
关键词：
Discrete mechanics; Optimal control; Hamel's integrators; Robotic manipulators; Discrete recursive dynamics; OPTIMIZATION; ALGORITHMS;
D O I：
10.1007/s11012-019-01093-1
中图分类号：
O3 [力学];
学科分类号：
08 ; 0801 ;
摘要：
In this paper, we develop a framework of time optimization path planning for robotic manipulators surrounded by static obstacles. Our approach is based on the recursive dynamics method and Hamel's integrators. We adopt the linear programming techniques to solve the problem of the collision avoidance expressed as state constraints. The resulting algorithm is simple to implement and the performance of this approach is demonstrated through two examples. Numerical results are shown to validate the efficiency of the proposed algorithm.
引用
收藏
页码：2521 / 2537
页数：17
相关论文
共 50 条
  • [1] Minimum-time optimal control of robotic manipulators based on Hamel’s integrators
    Zhipeng An
    Huibin Wu
    Donghua Shi
    [J]. Meccanica, 2019, 54 : 2521 - 2537
  • [2] An Optimal Control Approach to the Minimum-Time Trajectory Planning of Robotic Manipulators
    Massaro, Matteo
    Lovato, Stefano
    Bottin, Matteo
    Rosati, Giulio
    [J]. ROBOTICS, 2023, 12 (03)
  • [3] MINIMUM-TIME CONTROL LAWS FOR ROBOTIC MANIPULATORS
    CHEN, YB
    DESROCHERS, AA
    [J]. PROCEEDINGS OF THE 28TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-3, 1989, : 2494 - 2499
  • [4] MINIMUM-TIME CONTROL LAWS FOR ROBOTIC MANIPULATORS
    CHEN, YB
    DESROCHERS, AA
    [J]. INTERNATIONAL JOURNAL OF CONTROL, 1993, 57 (01) : 1 - 27
  • [5] MINIMUM-TIME FEEDBACK-CONTROL OF ROBOTIC MANIPULATORS
    TAM, HY
    [J]. PROCEEDINGS OF THE 28TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-3, 1989, : 2482 - 2486
  • [6] MINIMUM-TIME CONTROL OF ROBOTIC MANIPULATORS WITH GEOMETRIC PATH CONSTRAINTS
    SHIN, KG
    MCKAY, ND
    [J]. IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 1985, 30 (06) : 531 - 541
  • [7] STRUCTURE OF MINIMUM-TIME CONTROL LAW FOR ROBOTIC MANIPULATORS WITH CONSTRAINED PATHS
    CHEN, YB
    DESROCHERS, AA
    [J]. PROCEEDINGS - 1989 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOL 1-3, 1989, : 971 - 976
  • [8] Redundancy Resolution in Minimum-time Path Tracking of Robotic Manipulators
    Reiter, Alexander
    Gattringer, Hubert
    Mueller, Andreas
    [J]. ICINCO: PROCEEDINGS OF THE 13TH INTERNATIONAL CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS, VOL 2, 2016, : 61 - 68
  • [9] A PROOF OF THE STRUCTURE OF THE MINIMUM-TIME CONTROL LAW OF ROBOTIC MANIPULATORS USING A HAMILTONIAN-FORMULATION
    CHEN, Y
    DESROCHERS, AA
    [J]. IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 1990, 6 (03): : 388 - 393
  • [10] Minimum-time control of coupled tendon-driven manipulators
    Ma, SG
    Watanabe, M
    [J]. ADVANCED ROBOTICS, 2001, 15 (04) : 409 - 427
12345