Quasi-static object manipulation by mobile robot: Optimal motion planning using GA

2011 11th International Conference on Intelligent Systems Design and Applications Pub Date : 2011-11-01 DOI:10.1109/ISDA.2011.6121655

Hossein Barghijand, A. Akbarimajd, J. Keighobadi

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引用次数: 3

Abstract

Quasi-static object manipulation using a wheeled mobile robot is studied. For a mobile robot, as a typical set-up for transportation of objects, dynamic grasp problem is defined. It is assumed that the robot moves along a straight path and carries an object on its upper surface and the object should not move relative to the robot (dynamic grasp problem). It is also assumed that the robot has limited wheel motors torque. It is shown that to preserve dynamic grasp between the object and the robot, acceleration of the robot has to remain in a specified range. A third order polynomial for position equation of the mobile robot is selected and dynamic grasp and torque conditions are sketched as a constraint on acceleration of the robot. An optimization problem is proposed to find the optimal motion of the robot. A genetic algorithm is proposed to solve the optimization problem. The solutions are validated by simulations in MSC-ADAMS and MATLAB in general case of the optimization problem and also in minimum time, maximum distance and minimum energy problems as special cases of the general problem.

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移动机器人准静态目标操纵:基于遗传算法的最优运动规划

研究了轮式移动机器人对准静态物体的操纵。对于移动机器人，动态抓取问题是一种典型的物体搬运机构。假设机器人沿直线运动并在其上表面携带物体，物体不应相对于机器人移动(动态抓取问题)。同时假设机器人的轮式电机转矩有限。研究表明，为了保持物体与机器人之间的动态抓取，机器人的加速度必须保持在一定范围内。选择了移动机器人位置方程的三阶多项式，并给出了动态抓取和力矩条件作为机器人加速度的约束条件。提出了求解机器人最优运动的优化问题。提出了一种遗传算法来解决优化问题。通过在MSC-ADAMS和MATLAB中对优化问题的一般情况以及作为一般问题的特殊情况的最小时间、最大距离和最小能量问题进行了仿真验证。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

2011 11th International Conference on Intelligent Systems Design and Applications

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