Maximum Allowable Load of Mobile Manipulator in the Presence of Obstacle Using Non-Linear Open and Closed Loop Optimal Control

Korayem, M. H.; Azimirad, Vahid; Rahagi, M. Irani

doi:10.1007/s13369-014-0974-1

Cited by 4 publications

(3 citation statements)

References 9 publications

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“…Gunnarsson et al [25] used an estimate of the flexible arm angle by ILC and found that the controller is robust and has good control effects. The combination of ILC with the open-closed-loop control law [26]- [28] has been reported in the literature [29]- [31]. Over a wide range of operating conditions, open-closed-loop ILC controllers are robust, simple in structure and easy to implement.…”

Section: Introductionmentioning

confidence: 99%

Design of Open-Closed-Loop Iterative Learning Control With Variable Stiffness for Multiple Flexible Manipulator Robot Systems

Dong

et al. 2019

IEEE Access

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An open-closed-loop iterative learning method for multiple flexible manipulator systems with repeatable motion tasks was proposed to achieve the consensus tracking of a specified desired reference trajectory. The open-closed-loop iterative learning control scheme was used to reduce the effects of model error and disturbances, as the boundedness of both the tracking error and the control input can be simultaneously guaranteed. In addition, when combined with a novel rotational joint with a continuously adjustable stiffness, the open-closed-loop iterative learning method enhances the adaptability to meet the strict requirements of the next generation of robots with the physical human-robot interaction and highly dynamic motion. The convergence conditions of the approach were obtained by the theoretical analysis. The simulation results show that this control algorithm has a good tracking accuracy and a fast convergence rate when used in the high-precision trajectory control for robots. INDEX TERMSMultiple flexible robot, open-closed-loop, iterative learning control, stiffness adjustment.

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Section: Introductionmentioning

confidence: 99%

Design of Open-Closed-Loop Iterative Learning Control With Variable Stiffness for Multiple Flexible Manipulator Robot Systems

Dong

et al. 2019

IEEE Access

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“…In ref. [15], a new two-level method which is a combination of open and closed loop optimal control, is proposed for calculating DLCC of nonholonomic Wheel Mobile Manipulator in the presence of environmental obstacle. This method obtains the maximum load path and the maximum allowable load in a specified time, subject to constraints such as motor torque and jerk limits, accuracy of reaching to the final point, obstacle avoidance and vehicle kinematic and dynamic parameters.…”

Section: Introductionmentioning

confidence: 99%

Solving nonlinear optimal path tracking problem using a new closed loop direct–indirect optimization method: application on mechanical manipulators

Rahaghi

Barat

2018

Robotica

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SUMMARYThe purpose of this study is to determine the dynamic load carrying capacity (DLCC) of a manipulator that moves on the specified path using a new closed loop optimal control method. Solution methods for designing nonlinear optimal controllers in a closed-loop form are usually based on indirect methods, but the proposed method is a combination of direct and indirect methods. Optimal control law is given by solving the nonlinear Hamilton–Jacobi–Bellman (HJB) partial differential equation. This equation is complex to solve exactly for complex dynamics, so it is solved numerically using the Galerkin procedure combined with a nonlinear optimization algorithm. To check the performance of the proposed algorithm, the simulation is performed for a fixed manipulator. The results represent the efficiency of the method for tracking the pre-determined path and determining the DLCC. Finally, an experimental test has been done for a two-link manipulator and compare with simulation results.

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“…Wang and Ravani [29,30] determined the DLCC of a given trajectory for a serial manipulator as an optimization problem according to the state space of the dynamics equation and the torquespeed features of the actuators. Korayem et al proposed several methods in order to find DLCC of a wheeled mobile manipulator, such as a method which is a combination of open and closed loop optimal control [31], a method based on hierarchical optimal control [32], and a method using openloop optimal control approach and considering stability on zero-moment point criterion [33].…”

Section: Introductionmentioning

confidence: 99%

A New Methodology for Solving Trajectory Planning and Dynamic Load-Carrying Capacity of a Robot Manipulator

Guo¹,

Li²,

Cao³

et al. 2016

Mathematical Problems in Engineering

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A new methodology using a direct method for obtaining the best found trajectory planning and maximum dynamic load-carrying capacity (DLCC) is presented for a 5-degree of freedom (DOF) hybrid robot manipulator. A nonlinear constrained multiobjective optimization problem is formulated with four objective functions, namely, travel time, total energy involved in the motion, joint jerks, and joint acceleration. The vector of decision variables is defined by the sequence of the time-interval lengths associated with each two consecutive via-points on the desired trajectory of the 5-DOF robot generalized coordinates. Then this vector of decision variables is computed in order to minimize the cost function (which is the weighted sum of these four objective functions) subject to constraints on joint positions, velocities, acceleration, jerks, forces/torques, and payload mass. Two separate approaches are proposed to deal with the trajectory planning problem and the maximum DLCC calculation for the 5-DOF robot manipulator using an evolutionary optimization technique. The adopted evolutionary algorithm is the elitist nondominated sorting genetic algorithm (NSGA-II). A numerical application is performed for obtaining best found solutions of trajectory planning and maximum DLCC calculation for the 5-DOF hybrid robot manipulator.

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Maximum Allowable Load of Mobile Manipulator in the Presence of Obstacle Using Non-Linear Open and Closed Loop Optimal Control

Cited by 4 publications

References 9 publications

Design of Open-Closed-Loop Iterative Learning Control With Variable Stiffness for Multiple Flexible Manipulator Robot Systems

Design of Open-Closed-Loop Iterative Learning Control With Variable Stiffness for Multiple Flexible Manipulator Robot Systems

Solving nonlinear optimal path tracking problem using a new closed loop direct–indirect optimization method: application on mechanical manipulators

A New Methodology for Solving Trajectory Planning and Dynamic Load-Carrying Capacity of a Robot Manipulator

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