Optimal Motion Planning of Robotic Manipulators Removing Mobile Objects Grasped in Motion |
| |
Authors: | Anne-Dominique Jutard-Malinge Guy Bessonnet |
| |
Affiliation: | (1) Laboratoire de Mécanique des Solides (C.N.R.S. U.M.R. 6610), Université de Poitiers, SP2MI Bd. 3, Téléport 2, BP 179, 86960 Futuroscope Cedex, France;(2) Laboratoire de Mécanique des Solides (C.N.R.S. U.M.R. 6610), Université de Poitiers, SP2MI Bd. 3, Téléport 2, BP 179, 86960 Futuroscope Cedex, France |
| |
Abstract: | The following study deals with motion optimization of robot arms having to transfer mobile objects grasped when moving. This approach is aimed at performing repetitive transfer tasks at a rapid rate without interrupting the dynamics of both the manipulator and the moving object. The junction location of the robot gripper with the object, together with grasp conditions, are partly defined by a set of local constraints. Thus, optimizing the robot motion in the approach phase of the transfer task leads to the statement of an optimal junction problem between the robot and the moving object. This optimal control problem is characterized by constrained final state and unknown traveling time. In such a case, Pontryagin"s maximum principle is a powerful mathematical tool for solving this optimization problem. Three simulated results of removing a mobile object on a conveyor belt are presented; the object is grasped in motion by a planar three-link manipulator. |
| |
Keywords: | maximum principle motion optimization removing mobile objects robot motion planning |
本文献已被 SpringerLink 等数据库收录! |
|