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Energy-Optimal Trajectory Planning for Planar Underactuated RR Robot Manipulators in the Absence of Gravity
Joint Authors
Gregory, John
Olivares, Alberto
Staffetti, Ernesto
Source
Issue
Vol. 2013, Issue 2013 (31 Dec. 2013), pp.1-16, 16 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2013-05-27
Country of Publication
Egypt
No. of Pages
16
Main Subjects
Abstract EN
In this paper, we study the trajectory planning problem for planar underactuated robot manipulators with two revolute joints in the absence of gravity.
This problem is studied as an optimal control problem in which, given the dynamic model of a planar horizontal robot manipulator with two revolute joints one of which is not actuated, the initial state, and some specifications about the final state of the system, we find the available control input and the resulting trajectory that minimize the energy consumption during the motion.
Our method consists in a numerical resolution of a reformulation of the optimal control problem as an unconstrained calculus of variations problem in which the dynamic equations of the mechanical system are regarded as constraints and treated using special derivative multipliers.
We solve the resulting calculus of variations problem using a numerical approach based on the Euler-Lagrange necessary condition in integral form in which time is discretized and admissible variations for each variable are approximated using a linear combination of piecewise continuous basis functions of time.
The use of the Euler-Lagrange necessary condition in integral form avoids the need for numerical corner conditions and the necessity of patching together solutions between corners.
American Psychological Association (APA)
Gregory, John& Olivares, Alberto& Staffetti, Ernesto. 2013. Energy-Optimal Trajectory Planning for Planar Underactuated RR Robot Manipulators in the Absence of Gravity. Abstract and Applied Analysis،Vol. 2013, no. 2013, pp.1-16.
https://search.emarefa.net/detail/BIM-474591
Modern Language Association (MLA)
Gregory, John…[et al.]. Energy-Optimal Trajectory Planning for Planar Underactuated RR Robot Manipulators in the Absence of Gravity. Abstract and Applied Analysis No. 2013 (2013), pp.1-16.
https://search.emarefa.net/detail/BIM-474591
American Medical Association (AMA)
Gregory, John& Olivares, Alberto& Staffetti, Ernesto. Energy-Optimal Trajectory Planning for Planar Underactuated RR Robot Manipulators in the Absence of Gravity. Abstract and Applied Analysis. 2013. Vol. 2013, no. 2013, pp.1-16.
https://search.emarefa.net/detail/BIM-474591
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-474591