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A Method of Energy-Optimal Trajectory Planning for Palletizing Robot
Joint Authors
Liang, Le
Liu, Yanjie
Han, Haijun
Zhang, Shijie
Source
Mathematical Problems in Engineering
Issue
Vol. 2017, Issue 2017 (31 Dec. 2017), pp.1-10, 10 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2017-02-23
Country of Publication
Egypt
No. of Pages
10
Main Subjects
Abstract EN
In this work, the energy-optimal trajectory planning and initial pick point searching problem for palletizing robot with high load capacity and high speed are studied, in which the pick point and place point of the robot are fixed to a desired location for each single task.
These optimization problems have been transformed to ternary functional extremum problem and parameters optimal selection problem in which the performance index of the problems the rigid-flexible coupling dynamics model of the robot, and the constraint and boundary conditions of the robot are given.
The fourth-order Runge-Kutta method, multiple shooting method, and traversing method are used to solve these specific mathematical problems.
The effectiveness of the trajectory planning method is validated by the experimental and simulating results; thus the research work done here provides important support for subsequent palletizing robot research.
American Psychological Association (APA)
Liu, Yanjie& Liang, Le& Han, Haijun& Zhang, Shijie. 2017. A Method of Energy-Optimal Trajectory Planning for Palletizing Robot. Mathematical Problems in Engineering،Vol. 2017, no. 2017, pp.1-10.
https://search.emarefa.net/detail/BIM-1190820
Modern Language Association (MLA)
Liu, Yanjie…[et al.]. A Method of Energy-Optimal Trajectory Planning for Palletizing Robot. Mathematical Problems in Engineering No. 2017 (2017), pp.1-10.
https://search.emarefa.net/detail/BIM-1190820
American Medical Association (AMA)
Liu, Yanjie& Liang, Le& Han, Haijun& Zhang, Shijie. A Method of Energy-Optimal Trajectory Planning for Palletizing Robot. Mathematical Problems in Engineering. 2017. Vol. 2017, no. 2017, pp.1-10.
https://search.emarefa.net/detail/BIM-1190820
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1190820