NDLI: Robot path planning in a constrained workspace by using optimal control techniques

Content Provider	Springer Nature Link
Author	Santos, Rogério R. Steffen, Valder Saramago, Sezimária de F. P.
Copyright Year	2007
Abstract	Robot manipulators are programmable mechanical systems designed to execute a great variety of tasks in a repetitive way. In industrial environment, while productivity increases, cost reduction associated with robotic operation and maintenance can be obtained as a result of decreasing the values of dynamic quantities such as torque and jerk, with respect to a specific task. Furthermore, this procedure allows the execution of various tasks that require maximum system performance. By including obstacle avoidance ability to the robot skills, it is possible to improve the robot versatility, i.e., the robot can be used in a variety of operating conditions. In the present contribution, a study concerning the dynamic characteristics of serial robot manipulators is presented. An optimization strategy that considers the obstacle avoidance ability together with the dynamic performance associated with the movement of the robot is proposed. It results an optimal path planning strategy for a serial manipulator over time varying constraints in the robot workspace. This is achieved by using multicriteria optimization methods and optimal control techniques. Numerical simulation results illustrate the interest of the proposed methodology and the present techniques can be useful for the design of robot controllers.
Starting Page	159
Ending Page	177
Page Count	19
File Format	PDF
ISSN	13845640
Journal	Multibody System Dynamics
Volume Number	19
Issue Number	1-2
e-ISSN	1573272X
Language	English
Publisher	Springer Netherlands
Publisher Date	2007-06-07
Publisher Place	Dordrecht
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Multicriteria optimal control Dynamics of articulated systems Serial robot manipulator Automotive and Aerospace Engineering, Traffic Mechanical Engineering Electronic and Computer Engineering Optimization Vibration, Dynamical Systems, Control
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Mechanical Engineering Aerospace Engineering Modeling and Simulation Computer Science Applications

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