Identyfikatory
Warianty tytułu
Języki publikacji
Abstrakty
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.
Czasopismo
Rocznik
Tom
Strony
179--193
Opis fizyczny
Bibliogr. 16 poz., rys., tab.
Twórcy
autor
- Department of Mechanical and Aerospace Engineering, Science and Research Branch, Islamic Azad University, Tehran, Iran
autor
- 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
- 1. Chettibi T., Lehtihet H.E., Haddad M., 2004, Minimum cost trajectory planning for industrial robots, European Journal of Mechanics A/Solids, 23, 703-715
- 2. Chettibi T., Lemoine P., 2007, Generation of point to point trajectories for robotic manipulators under electro-mechanical constraints, International Review of Mechanical Engineering, IREME, 131-143
- 3. Garg D.P., Kumar M., 2002, Optimization techniques applied to multiple manipulators for path planning and torque minimization, Engineering Applications of Artificial Intelligence, 15, 241-252
- 4. Haddad M., Chettibi T., Hanchi S., Lehtihet H.S., 2005, A new approach for minimum time motion planning problem of wheeled mobile robots, 16th IFAC World Congress, Prague
- 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
- 7. Korayem M.H., Nikoobin A., 2009, Formulation and numerical solution of robot manipulators in point-to-point motion with maximum load carrying capacity, Robotica, 16, 101-109
- 8. Korayem M.H., Nikoobin A., Azimirad V., 2009, Maximum load carrying capacity of mobile manipulators: Optimal control approach, Robotica, 27, 147-159
- 9. Korayem M.H., Rahimi Nohooji H., Nikoobin A., 2011, Path planning of mobile elastic robotic arms by indirect approach of optimal control, International Journal of Advanced Robotic Systems, 8, 10-20
- 10. Piazzi A., Visioli A., 2000, Global minimum-jerk trajectory planning of robot manipulators, IEEE Transactions on Industrial Electronics, 47, 140-149
- 11. Saravanan R., Ramabalan S., 2008, Evolutionary minimum cost trajectory planning for industrial robots, Journal of Intelligent and Robotic Systems, 52, 45-77
- 12. Saravanan R., Ramabalan S., Balamurugan C., 2008, Evolutionary optimal trajectory planning for industrial robot with payload constraints, International Journal of Advanced Manufacturing Technology, 38, 1213-1226
- 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
- 14. Tangpattanakul P., Artrit P., 2009, Minimum-time trajectory of robot manipulator using Harmony Search algorithm, 6th International Conference on Electrical Engineering/Electronics, Computer, Telecommunication and Information Technology (ECTICON), Chonburi, Thailand
- 15. Tangpattanakul P., Meesomboon A., Artrit P., 2010, Optimal trajectory of robot manipulator using Harmony search algorithms, SCI, 270, 23-36
- 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.
Typ dokumentu
Bibliografia
Identyfikator YADDA
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