A Method for Optimal Synthesis of Manipulation Robot Trajectories

[+] Author and Article Information
M. Vukobratović, M. Kirćanski

Institut Michailo Pupin, Beograd, Yugoslavia

J. Dyn. Sys., Meas., Control 104(2), 188-193 (Jun 01, 1982) (6 pages) doi:10.1115/1.3139695 History: Received February 24, 1981; Online July 21, 2009


Manipulation robots belong to a class of complex, nonlinear dynamic systems. In addition, they are subjected to the constraints resulting from work-space obstacles, kinematical and physical characteristics of the mechanism itself and the actuators. Therefore, the application of optimal control theory (in energy or time optimization) leads to substantial practical difficulties, so that significant simplifications are usually performed, either in model complexity or by neglecting the existing constraints. In this paper the problem of obtaining such an optimization method, which would take into account the complete system dynamics and all the constraints is considered. The only method found to be suitable for such a complex optimization should be based on dynamic programming. In this paper an algorithm for determining optimal velocity distribution for a given manipulator tip trajectory is elaborated in detail. Practical application of the developed procedure is in off-line calculation of nominal input generalized forces (programmed control) of a nonredundant manipulator, by which the minimum of consumed energy is ensured. This is specially important for high speed motions as well as handling of heavy loads.

Copyright © 1982 by ASME
Your Session has timed out. Please sign back in to continue.





Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In