کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
712170 1461146 2014 6 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Optimal Tube Following for Robotic Manipulators
ترجمه فارسی عنوان
لوله مطلوب به دنبال دستکاری رباتیک است
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی مکانیک محاسباتی
چکیده انگلیسی

Optimal path following for robots considers the problem of moving along a predetermined Cartesian geometric end effector path (which is transformed into a predetermined geometric joint path), while some objective is minimized: e.g. motion time or energy loss. In practice it is often not required to follow a path exactly but only within a certain tolerance. By deviating from the path, within the allowable tolerance, one could gain in optimality. In this paper, we define the allowable deviation from the path as a tube around the given geometric path. We then search for the optimal motion inside the tube. This transforms the path following problem to a tube following problem. In contrast to the (time or energy) optimal path following problem, the tube following problem is not convex. However, we propose a problem formulation that can still be solved efficiently, as will be illustrated by some numerical examples.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: IFAC Proceedings Volumes - Volume 47, Issue 3, 2014, Pages 305–310
نویسندگان
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