Optimal point-to-point trajectory planning for planar redundant manipulator is considered in this study. The main objective is to minimize the sum of the position error of the end-effector at each intermediate point along the trajectory so that the end-effector can track the prescribed trajectory accurately. An algorithm combining Genetic Algorithm and Pattern Search as a Generalized Pattern Search GPS is introduced to design the optimal trajectory. To verify the proposed algorithm, simulations for a 3-D-O-F planar manipulator with different end-effector trajectories have been carried out. A comparison between the Genetic Algorithm and the Generalized Pattern Search shows that The GPS gives excellent tracking performance.
Robot motion planning between two given configurations in the time domain has a great impact on robotic applications. In the presence of link flexibility, the problem becomes more difficult and critical to be solved. A two-link flexible manipulator is proposed in this study, where the manipulator's joints are required to undergo a rest-to-rest maneuvering. Two trajectories are assumed, a fourth order polynomial and soft motion trajectories1 the Genetic Algorithm is employed to optimize the unknown parameters of the fourth order trajectory in such away that minimizes the energy consumption during motion. The mathematical model of the manipulator is obtained using the extended Hamilton's principle, where the flexible links are treated using Euler-Bernoulli's beam theory. Simulation study for the optimized joints' torques for the two trajectories is introduced and a comparison between them is carried out based on the minimum energy consumption.
A cubic-splines trajectory planning of a constrained rigid-flexible manipulator to minimize the contact force is considered. Based on the general dynamic model of the chain of flexible links, equations of motion for the manipulator are derived using the extended Hamilton's principle. An analytical solution for the inverse dynamics problem using the assumed modes method is presented to compute the required joint torques for the tip mass to move along the constrained surface. Cubic-splines interpolation has been adjusted for the joint motion profiles to make sure that the end-effector will follow the prescribed trajectory without degradation. The knot points of the trajectories have been chosen on the constrained surface to achieve minimum contact force as possible.
In this paper, modeling and simulation of nonlinear, Half-car Active Vehicle Suspension System (HAVSS) reinforced with PID controller is presented. The model has 4 degrees of freedom; comprising of heave movements of the front and rear axle, pitch and heave motions of the unsprung mass of the vehicle. The vehicle is excited by a triangular bump on an otherwise smooth road. The objective of the presented model is to isolate the vehicle body from these road disturbances in order to maximize passenger ride comfort and retain continuous road-wheel contact. PID controller is used to supress the vibrations generated from the road unevenness. Newton's approach is used in system modeling due its simplicity over D'Alembert's and Lagrange's approach. The simulation, carried out in MATLAB environment, vividly shows the superior performance; in both effectiveness and robustness of the HAVSS over its passive control counterpart.
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