A model-based trajectory planning approach for flexible-link mechanisms

P. Boscariol, A. Gasparetto, R. Vidoni, Armando Romano
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引用次数: 6

Abstract

In this paper the problem of trajectory planning for flexible-links mechanisms is dealt with. The method proposed here is suitable for the determination of model-based optimal point-to-point trajectories with bounds on kinematic and dynamic characteristics of the mechanism. An open-loop optimal control strategy is applied to an accurate dynamic model of flexible multi-body planar mechanisms. The model, which has already benn fully validated through experimental tests, is based on finite element discretization and accounts for the main geometric and inertial nonlinearities of the linkage. Exploiting an indirect or variational solution method, the necessary optimality conditions deriving from the Pontryagin's minimum principle are imposed, and lead to a differential Two-Point Boundary Value Problem (TPBVP); numerical solution of the latter is accomplished by means of collocation techniques. Considering a lightweight RR robot, simulation results are provided for rest-to-rest trajectories with bounded speed and bounded elastic deformation. However, the strategy under investigation has general validity and can be applied to other types of machanisms, as well as with different objective functions and boundary conditions.
基于模型的柔性连杆机构轨迹规划方法
本文研究了柔性连杆机构的轨迹规划问题。本文提出的方法适用于确定基于模型的最优点对点轨迹,该轨迹对机构的运动学和动力学特性有限制。将开环最优控制策略应用于柔性多体平面机构的精确动力学模型。该模型基于有限元离散化,考虑了连杆机构的主要几何非线性和惯性非线性,并已通过实验验证。利用间接或变分解的方法,施加了由庞特里亚金最小原理导出的必要最优性条件,并导致微分两点边值问题(TPBVP);后者的数值解是通过配点法实现的。考虑轻型RR机器人,给出了有界速度和有界弹性变形的静止到静止轨迹的仿真结果。然而,所研究的策略具有一般有效性,可以应用于其他类型的机制,以及具有不同的目标函数和边界条件。
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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