Optimal point to point path planning of flexible manipulator under large deformation by using harmony search method

• Autorzy: Esfandiar H. , Korayem M. H.

Identyfikatory

DOI

10.15632/jtam-pl.54.1.179

• Języki publikacji: EN

Abstrakty

EN

This paper aims at planning an optimal point to point path for a flexible manipulator under large deformation. For this purpose, the researchers use a direct method and meta-heuristic optimization process. In this paper, the maximum load carried by the manipulator and the minimum transmission time are taken as objective functions of the optimization process to get optimal path profiles. Kinematic constraints, the maximum velocity and acceleration, the dynamic constraint of the maximum torque applied to the arms and also the constraint of final point accuracy are discussed. For the optimization process, the Harmony Search (HS) method is used. To evaluate the effectiveness of the approach proposed, simulation studies are reviewed by considering a two-link flexible manipulator with the fixed base. The findings indicate that the proposed method is in power of dealing with nonlinear dynamics of the system. Furthermore, the results obtained by rigid, small and large deformation models are compared with each other.

Słowa kluczowe

EN

meta-heuristic optimization; harmony search; large deformation; flexible manipulator

• Wydawca: Polskie Towarzystwo Mechaniki Teoretycznej i Stosowanej
• Czasopismo: Journal of Theoretical and Applied Mechanics
• Rocznik: 2016
• Tom: Vol. 54 nr 1
• Strony: 179--193
• Opis fizyczny: Bibliogr. 16 poz., rys., tab.

Twórcy

autor

Esfandiar H.

• Department of Mechanical and Aerospace Engineering, Science and Research Branch, Islamic Azad University, Tehran, Iran

autor

Korayem M. H.

• Department of Mechanical and Aerospace Engineering, Science and Research Branch, Islamic Azad University, Tehran, and Robotic Research Laboratory, Center of Excellence in Experimental Solid, Mechanics and Dynamics, School of Mechanical Engineering, Iran University of Science and Technology, Tehran, Iran

Bibliografia

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• 5. Haddad M., Hanchi S., Lehtihet H.E., 2007, Sub-optimal motion planner of a mobile manipulator with end-effector’s specified path, IFToMM World Congress
• 6. Heidari H., 2011, Maximum allowable dynamic load of flexible manipulators undergoing large deformation, PhD Thesis, Iran University of Science and Technology, Iran
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• 8. Korayem M.H., Nikoobin A., Azimirad V., 2009, Maximum load carrying capacity of mobile manipulators: Optimal control approach, Robotica, 27, 147-159
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• 13. Spangelo I., Egeland O., 1992, Generation of energy-optimal trajectories for an autonomous underwater vehicle, Proceedings of the 1992 IEEE International Conference on Robotics and Automation, Nice, France, May 12-14
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• 16. Zanotto V., Gasparetto A., Lanzutti A., Boscariol P., Vidoni R., 2011, Experimental validation of minimum time-jerk algorithms for industrial robots, Journal of Intelligent and Robotic Systems, 64, 197-219

Uwagi

PL

Opracowanie ze środków MNiSW w ramach umowy 812/P-DUN/2016 na działalność upowszechniajacą naukę.