سال انتشار: ۱۳۹۰

محل انتشار: نوزدهمین همایش سالانه مهندسی مکانیک

تعداد صفحات: ۴

نویسنده(ها):

Mohammad Hassan Ghasemi – Assistant Professor, Mechanical Engineering Department, Babol University of Technology
Navvab Kashiri – M.Sc. Student, Mechanical Engineering Department, Babol University of Technology
Morteza Dardel – Assistant Professor, Mechanical Engineering Department, Babol University of Technology

چکیده:

Here, a time optimal control scheme for manipulators subjects to actuator torque limits is proposed. In addition to, the limits on the joint jerks are considered. These constraints create a smooth trajectory for reducing strain on robot joints. Inclusion of the jerks constraints increase the traversal time, hence a method is introduced to optimize this time. Also, an explicit algorithm for finding the switch points is presented. To this end, a simple redundant manipulator is simulated to demonstrate the efficiency of proposed method for kinematically redundant manipulators.