Sub-optimal trajectory planning of mobile manipulator

Mohri, Akira; Furuno, Seiji; Iwamura, Masatsugu; Yamamoto, Masahito

doi:10.1109/robot.2001.932785

Cited by 20 publications

(24 citation statements)

References 14 publications

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“…Optimal control can be used in both open loop and closed loop strategies. However, because of the off-line nature of the open loop optimal control problem, many difficulties like all types of constraints and system nonlinearities may be catered to so this method is a suitable approach for analyzing nonlinear systems such as path planning of the robotics arms [16][17][18][19][20]. This method is solved by direct and indirect approaches.…”

Section: Control Of Robotmentioning

confidence: 99%

Nonlinear dynamic analysis for elastic robotic arms

Korayem

Rahimi

2011

Front. Mech. Eng.

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The aim of the paper is to analyze the nonlinear dynamics of robotic arms with elastic links and joints. The main contribution of the paper is the comparative assessment of assumed modes and finite element methods as more convenient approaches for computing the nonlinear dynamic of robotic systems. Numerical simulations comprising both methods are carried out and results are discussed. Hence, advantages and disadvantages of each method are illustrated. Then, adding the joint flexibility to the system is dealt with and the obtained model is demonstrated. Finally, a brief description of the optimal motion generation is presented and the simulation is carried out to investigate the role of robot dynamic modeling in the control of robots.

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Section: Control Of Robotmentioning

confidence: 99%

Nonlinear dynamic analysis for elastic robotic arms

Korayem

Rahimi

2011

Front. Mech. Eng.

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“…[26]- [28]. Here, the complete form of the obtained nonlinear equation is used, and unlike the previous works, linearizing the equations, 5,13−16 using of a fixed-order polynomial as the solution form, 8−12 or developing the additional numerical algorithm to solve the problem 20−22,26−28 is not required.…”

Section: Contributionmentioning

confidence: 99%

“…They have proposed an approach to find the optimal path for both mobile base and manipulator links in order to achieve the minimum effort trajectory in point-to-point motion. 26 In the next works they have applied this method for trajectory planning of mobile manipulators with end-effector's specified path. 27,28 To solve the problem, all the states are considered as the design parameters and they have used a hierarchical gradient method which synthesizes the gradient function in a hierarchical manner based on the order of priority.…”

Section: Introductionmentioning

confidence: 99%

“…The extra DOFs arose from base mobility are solved using the additional constraint functions and the augmented Jacobian matrix, so the formulation and solution algorithm presented in refs. [26]- [28] will not be applicable here. Using the Pontryagin's minimum principle, optimality conditions for carrying the maximum payload in point-to-point motion are derived.…”

Section: Introductionmentioning

confidence: 99%

“…Simultaneously, the mobile base is initially at point (x f = 0.75 m, y f = 0.25 m, θ 0 = 0) and moves to final position (x f = 1.6 m, y f = 0.5 m). The actuator constants are given as follows: K 1 = [34.67 12.21] T N.m, K 2 = diag(6.45 2.4) N.m.s / RadIt must be noticed that the formulation presented for path planning of mobile manipulator in refs [26]-[28]. is not applicable here.…”

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confidence: 99%

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Maximum load carrying capacity of mobile manipulators: optimal control approach

2009

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In this paper, finding the maximum load carrying capacity of mobile manipulators for a given two-end-point task is formulated as an optimal control problem. The solution methods of this problem are broadly classified as indirect and direct. This work is based on the indirect solution which solves the optimization problem explicitly. In fixedbase manipulators, the maximum allowable load is limited mainly by their joint actuator capacity constraints. But when the manipulators are mounted on the mobile bases, the redundancy resolution and nonholonomic constraints are added to the problem. The concept of holonomic and nonholonomic constraints is described, and the extended Jacobian matrix and additional kinematic constraints are used to solve the extra DOFs of the system. Using the Pontryagin's minimum principle, optimality conditions for carrying the maximum payload in point-to-point motion are obtained which leads to the bang-bang control. There are some difficulties in satisfying the obtained optimality conditions, so an approach is presented to improve the formulation which leads to the two-point boundary value problem (TPBVP) solvable with available commands in different softwares. Then, an algorithm is developed to find the maximum payload and corresponding optimal path on the basis of the solution of TPBVP. One advantage of the proposed method is obtaining the maximum payload trajectory for every considered objective function. It means that other objectives can be achieved in addition to maximize the payload. For the sake of comparison with previous results in the literature, simulation tests are performed for a twolink wheeled mobile manipulator. The reasonable agreement is observed between the results, and the superiority of the method is illustrated. Then, simulations are performed for a PUMA arm mounted on a linear tracked base and the results are discussed. Finally, the effect of final time on the maximum payload is investigated, and it is shown that the approach presented is also able to solve the time-optimal control problem successfully.

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Movement Control of a Mobile Manipulator Based on Cost Optimization

Lee

Cho

2006

Neural Information Processing

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Sub-optimal trajectory planning of mobile manipulator

Cited by 20 publications

References 14 publications

Nonlinear dynamic analysis for elastic robotic arms

Nonlinear dynamic analysis for elastic robotic arms

Maximum load carrying capacity of mobile manipulators: optimal control approach

Movement Control of a Mobile Manipulator Based on Cost Optimization

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