Numerical Aspects and Performances of Trajectory Planning Methods of Flexible Axes

Dieulot, Jean-Yves; Thimoumi, Issam; Colas, Frédéric; Béarée, Richard

doi:10.15837/ijccc.2006.4.2304

Cited by 10 publications

(4 citation statements)

References 14 publications

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“…The acceleration provided by this motion profile is characterized by an excitation of natural modes and a minimum jerk, so its movement is appointed by minimum-jerk movement [13].…”

Section: B Fifth-degree Polynomial Motion Profilementioning

confidence: 99%

Impact of External Disturbance and Discontinuous Input on the Redundant Manipulator Robot Behaviour using the Linear Parameter Varying Modelling Approach

Zribi¹,

Tlijani²,

Knani³

et al. 2017

ijacsa

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Abstract-This paper is concerned with the synthesis of dynamic model of the redundant manipulator robot based on Linear Parameter Varying approach. To evaluate its behavior and in presence of external disturbance several motions profiles are developed using a new algorithm which produce smooth trajectories in optimal time. The main advantages of this proposed approach are its robustness and its simplicity with respect to the flexibility structure, to the motion profile and mass load variations. Numerical simulations with several tasks show that in presence of mass load variation the desired trajectory is more efficiently followed by the LPV model than the dynamic model of the studied mechanism. Its performances are ensured using the smoothest trajectory designed by the Eighth-degree polynomial profile than the Fifth-degree polynomial one and the trapezoidal one.

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“…The acceleration provided by this motion profile is characterized by an excitation of natural modes and a minimum jerk, so its movement is appointed by minimum-jerk movement [13].…”

Section: B Fifth-degree Polynomial Motion Profilementioning

confidence: 99%

Impact of External Disturbance and Discontinuous Input on the Redundant Manipulator Robot Behaviour using the Linear Parameter Varying Modelling Approach

Zribi¹,

Tlijani²,

Knani³

et al. 2017

ijacsa

View full text Add to dashboard Cite

show abstract

“…The objective of the trajectories planning [17] is to determine an open-loop control u d (t), carrying out the objective bringing a given system, of a certain initial state in a known final state:…”

Section: Trajectories Planningmentioning

confidence: 99%

Flatness-based Control and Conventional RST Polynomial Control of a Thermal Process

Gharsallaoui

Ayadi²,

Benrejeb³

et al. 2009

INT J COMPUT COMMUN

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In this paper, a comparison between conventional RST polynomial control by poles placement and RST flatness-based control is proposed. These approaches were developed, in discrete-time formalism by carrying out a generation of a reference starting from a flat output and by then analyzing the tracking error in closedloop. The case of the thermal system, that we applied an output disturbance, was considered by simulation to study the effectiveness of given flatness-based robust controller with the integration of an anti-windup device, in terms of tracking trajectory and disturbance rejection.

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“…Moreover, the innovative method proposed here applies to nonlinear plants, and therefore it greatly enhances the field of application of the method presented by Singh (2010), Kased and Singh (2005), and Dieulot et al (2006), which is also based on the use of sensitivity functions. However, the mentioned method can be applied only to linear plants, and is used to design a closed-loop control system.…”

Section: Introductionmentioning

confidence: 98%

“…Model-free approaches are often based on geometrical approaches (Dieulot et al, 2006;Biagiotti and Melchiorri, 2008), since the trajectory is defined as a sequence of polynomial functions (Boryga and Grabos´, 2009), splines (Gasparetto and Zanotto, 2007) or Non-Uniform Rational B-Splines (NURBS) (Louembet et al, 2010). Another possible way to generate a trajectory is to use filters Melchiorri, 2010, 2013).…”

Section: Introductionmentioning

confidence: 99%

Robust model-based trajectory planning for nonlinear systems

Boscariol

Gasparetto

2016

Journal of Vibration and Control

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Model-based trajectory planning algorithms are capable of providing a high level of performance. However, they are often lacking in robustness, which severely limits their field of application. In this paper the method of parametric desensitization is applied to nonlinear models, providing a feasible solution to the problem of robust model-based trajectory planning for nonlinear plants with parametric uncertainties. By using an indirect variational solution method, the necessary optimality conditions deriving from Pontryagin's minimum principle are imposed, and lead to a differential two-point boundary value problem; numerical solution of the latter is accomplished by means of collocation techniques. The method is applied to two test cases: a nonlinear spring-mass system and a flexible link manipulator with Coulombian friction. Results show that the technique developed in this paper can significantly improve the robustness of the resulting trajectory to parametric model mismatches in comparison with the conventional method

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Numerical Aspects and Performances of Trajectory Planning Methods of Flexible Axes

Cited by 10 publications

References 14 publications

Impact of External Disturbance and Discontinuous Input on the Redundant Manipulator Robot Behaviour using the Linear Parameter Varying Modelling Approach

Impact of External Disturbance and Discontinuous Input on the Redundant Manipulator Robot Behaviour using the Linear Parameter Varying Modelling Approach

Flatness-based Control and Conventional RST Polynomial Control of a Thermal Process

Robust model-based trajectory planning for nonlinear systems

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