کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
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1705843 | 1012442 | 2012 | 16 صفحه PDF | دانلود رایگان |
This paper is concerned with mathematical modeling and optimal motion designing of flexible mobile manipulators. The system is composed of a multiple flexible links and flexible revolute joints manipulator mounted on a mobile platform. First, analyzing on kinematics and dynamics of the model is carried out then; open-loop optimal control approach is presented for optimal motion designing of the system. The problem is known to be complex since combined motion of the base and manipulator, non-holonomic constraint of the base and highly non-linear and complicated dynamic equations as a result of the flexible nature of both links and joints are taken into account. In the proposed method, the generalized coordinates and additional kinematic constraints are selected in such a way that the base motion coordination along the predefined path is guaranteed while the optimal motion trajectory of the end-effector is generated. This method by using Pontryagin’s minimum principle and deriving the optimality conditions converts the optimal control problem into a two point boundary value problem. A comparative assessment of the dynamic model is validated through computer simulations, and then additional simulations are done for trajectory planning of a two-link flexible mobile manipulator to demonstrate effectiveness and capability of the proposed approach.
Journal: Applied Mathematical Modelling - Volume 36, Issue 7, July 2012, Pages 3229–3244