Approximate Optimal Trajectories for Flexible-Link Manipulator Slewing Using Recursive Quadratic Programming

[+] Author and Article Information
G. R. Eisler, R. D. Robinett, D. J. Segalman, J. D. Feddema

Sandia National Laboratories, Albuquerque, NM 87185-5800

J. Dyn. Sys., Meas., Control 115(3), 405-410 (Sep 01, 1993) (6 pages) doi:10.1115/1.2899116 History: Received January 01, 1992; Revised August 01, 1992; Online March 17, 2008


The method of recursive quadratic programming, coupled with a homotopy method, has been used to generate approximate minimum-time and minimum tracking-error tip trajectories for two-link flexible manipulator movements in the horizontal plane. The manipulator is modeled with an efficient finite-element scheme for a multi-link, multi-joint system with bending only in the horizontal-plane. Constraints on the trajectory include boundary conditions on link tip position, final joint velocities, accelerations and torque inputs to complete a rest-to-rest maneuver, straight-line tip tracking between boundary positions, and motor torque limits. Trajectory comparisons demonstrate the impact of torque input smoothness on structural mode excitation. Applied torques retain much of the qualitative character of rigid-body slewing motion with alterations for energy dissipation.

Copyright © 1993 by The American Society of Mechanical Engineers
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