Path-constrained time-optimal robot control

	Path-constrained time-optimal robot control
	Xie DM(谢冬梅); Qu DK(曲道奎); Xu F(徐方)
	2006
会议名称	IEEE International Conference on Robotics and Biomimetics (ROBIO 2006)
会议日期	December 17-20, 2006
会议地点	Kunming, China
关键词	time-optimal control velocity limit curve switching trajectory regulation
页码	1095-1100
通讯作者	谢冬梅
中文摘要	Fast movement along a predefined path is important for many robot applications, especially in cluster tool robots, requires utilization of the maximum allowable torque range. Robot running along the time-optimal path brings many benefits such as higher productivity. In this paper, moving a delicate object from an initial point to a specified location along a predefined path within the minimum time under a damage-free condition is studied, To achieve this goal, the dynamics of robot is first described as the formulation using arc differential of the predefined path in Cartesian coordinates. Then, the range of acceleration is deducted from the torque limitations, and the method of computing the maximum and minimum acceleration is given. This range can be modified by consideration of the geometrical constraints. Considering the torque constraint on the object, the range of maximum acceleration and velocity are obtained to preserve object safety while the manipulator is carrying it along the curved path. After that, a method to solve the time-optimal problem is presented, and the detailed process is explained. In this way time-optimal trajectory is planned within the maximum allowable range of acceleration and velocity. This algorithm is implemented on a 2-arm, 2-dof cluster tool robot and its validity is proven by simulation result.
收录类别	EI ; CPCI（ISTP）
产权排序	1
会议主办者	IEEE, IEEE Robot & Automat Soc, Robot Soc Japan, Japanese Soc Mech Engineers, Peking Univ, Beijing Inst Technol, Yunnan Univ
会议录	2006 IEEE International Conference on Robotics and Biomimetics, Vols 1-3
会议录出版者	IEEE
会议录出版地	NEW YORK
语种	英语
ISBN号	978-1-4244-0570-1
WOS记录号	WOS:000245907301092
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/7671]
专题	沈阳自动化研究所_其他
推荐引用方式 GB/T 7714	Xie DM,Qu DK,Xu F. Path-constrained time-optimal robot control[C]. 见:IEEE International Conference on Robotics and Biomimetics (ROBIO 2006). Kunming, China. December 17-20, 2006.