Optimal trajectory planning for robotic manipulators using Discrete Mechanics and Optimal Control

Shareef, Zeeshan; Trächtler, Ansgar

doi:10.1109/cca.2014.6981358

Cited by 7 publications

(1 citation statement)

References 24 publications

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“…The application of optimal control to parallel manipulators has received little attention so far. In particular, optimal trajectory planning problems for a given geometrical path are formulated in [35] for high-speed cable-based parallel manipulators, and in [36] for a Delta parallel robot manipulator. Minimum-time trajectory planning and real-time control of a special five-bar parallel robot is presented in [37].…”

Section: Introductionmentioning

confidence: 99%

Numerical Optimal Control of a Spherical Parallel Manipulator Based on Unique Kinematic Solutions

Shintemirov

Niyetkaliyev

Rubagotti

2015

IEEE/ASME Trans. Mechatron.

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Abstract-This paper presents a framework for generating optimal motor trajectories for a spherical parallel manipulator (SPM) with revolute joints, actuated by servomotors with default internal position control settings. The proposed framework consists of three phases. First, an approach to obtain unique forward kinematics is introduced, in order to relate the angular positions of the servomotors to the orientation of the SPM top mobile platform. Then, a configuration space for the SPM is defined by using numerical procedures, in order to guarantee the absence of singularities and of collisions between links during the motion of the manipulator. Finally, reference trajectories of the servomotors are defined via convex optimization. These trajectories determine an optimal evolution of the SPM motion, based on configuration space and original servomotor dynamics. The proposed strategy is experimentally demonstrated on a prototype of Agile Wrist SPM with three servomotors.

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Section: Introductionmentioning

confidence: 99%

Numerical Optimal Control of a Spherical Parallel Manipulator Based on Unique Kinematic Solutions

Shintemirov

Niyetkaliyev

Rubagotti

2015

IEEE/ASME Trans. Mechatron.

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A multiphase DMOC‐based trajectory optimization method

Zhang

Wang

Inanc

2017

Optim Control Appl Methods

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SummaryDiscrete mechanics and optimal control (DMOC) is a methodology that takes advantage of variational structure to solve certain optimal control problems for mechanical systems. This paper proposes to combine a multiphase strategy with the original DMOC method, resulting in a new multiphase DMOC (MDMOC) method and making optimal trajectory generation more efficient. The advantages of the proposed method are demonstrated mathematically, and in addition, a quadrotor, unmanned aerial vehicle, simulation example is presented to show its superiority over the DMOC method. Furthermore, to show its potential application, an arbitrarily chosen controller was used to track the desired trajectory generated by MDMOC. This new MDMOC methodology can also be applied to other mechanical systems such as mobile robots and underwater gliders.KEYWORDS discrete mechanics and optimal control, optimal control applications, quadrotor, trajectory optimization | INTRODUCTIONRobotic vehicles are becoming increasingly popular because of their great flexibility and mobility. They are widely used in military, civilian, commercial, and many other fields. Traditionally, robotic vehicles can be categorized into 4 main types: underwater robots, land mobile robots, unmanned aircraft, and space robots. Recently, small unmanned aerial vehicles (UAVs), as a kind of self-propelled aerial robot, have attracted widespread research attention because of their potential applications, including reconnaissance, surveillance, search and rescue, and environmental monitoring.In practice, it is always preferable for UAVs to generate a real-time trajectory, which is the foundation of reconnaissance, exploration, or tracking missions. However, due to their limited payload, it is essential to plan the optimal trajectory to achieve minimum time and/or minimum energy objectives.1 Therefore, an efficient trajectory optimization method and corresponding tracking controller design are indispensable. Generally, trajectory optimization can be considered as an optimal control problem. 2 Many kinds of optimization algorithm have been proposed for different systems. Betts 3 presented a survey showing that numerical methods for solving optimal trajectory problems can normally be classified into 2 categories: indirect and direct. Direct methods have been widely used by transforming a continuous optimal control problem into a nonlinear programming (NLP) problem. 4 Bouktir et al 5 presented a numerical method to generate a minimum-time optimal trajectory for a quadrotor with nonlinear under-actuated properties; Ross et al 2 proposed a guess-free spectral algorithm with several limiting assumptions in which the problem must be reasonably bounded and scaled; Chamseddine et al 6 applied a planning/replanning strategy to a quadrotor and illustrated the simplicity and efficiency of the method. All these approaches can solve the specified problems with relative efficiency. However, they are applicable only to trajectory optimization problems for certain specific simple mechanical...

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Minimum-time optimal control of robotic manipulators based on Hamel’s integrators

Shi

2019

Meccanica

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Optimal trajectory planning for robotic manipulators using Discrete Mechanics and Optimal Control

Cited by 7 publications

References 24 publications

Numerical Optimal Control of a Spherical Parallel Manipulator Based on Unique Kinematic Solutions

Numerical Optimal Control of a Spherical Parallel Manipulator Based on Unique Kinematic Solutions

A multiphase DMOC‐based trajectory optimization method

Minimum-time optimal control of robotic manipulators based on Hamel’s integrators

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