NDLI: Determining load carrying capacity of a manipulator by game theory: Closed-loop nonzero-sum differential game approach

Content Provider	Springer Nature Link
Author	Korayem, M. H. Esfandiar, H. Dargahi, R.
Copyright Year	2016
Abstract	The aim of this study is to determine the load capacity of a manipulator in closed-loop form and specified path. In open-loop mode, due to the lack of controller in the system, end effector accuracy constraint is considered as the main constraint in load carrying capacity and the motors are not able to use their maximum capacity for carrying larger load. In this study, for increasing the load carrying capacity of the robots and the use of saturation limit of the motors, the design of the controller is proposed based on game theory. The controller design is aroused as a problem of nonzero-sum differential game. In the method proposed, the motors driven are considered as the players and the track of specific path for end effector with a maximum load are regarded as objective function of the players. The players’ optimal strategy is calculated based on Nash equilibrium strategy. By using iterative algorithm according to Riccati equations, optimal values of the control inputs are represented. In general, optimal strategy of the manipulator means to determine the best torques applied by the motors for carrying maximum load. To evaluate the effectiveness of the method proposed, the simulation is performed for Scout mobile robot and a manipulator with flexible joints. The results represent that differential game method when dealing with elastic deformation of the joints has a better performance and efficiency compared with LQR method.
Starting Page	5197
Ending Page	5205
Page Count	9
File Format	PDF
ISSN	1738494X
Journal	Journal of Mechanical Science and Technology
Volume Number	30
Issue Number	11
e-ISSN	19763824
Language	English
Publisher	Korean Society of Mechanical Engineers
Publisher Date	2016-11-12
Publisher Place	Seoul
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Closed-loop control Game theory Dynamic games Nash equilibrium strategy Mobile robot Manipulator with flexible joints Mechanical Engineering Vibration, Dynamical Systems, Control Industrial and Production Engineering
Content Type	Text
Resource Type	Article
Subject	Mechanics of Materials Mechanical Engineering

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