Discrete dynamic programming for optimized path planning of flexible robots

Wilson, David G.; Robinett, Rush D.; Eisler, G. Richard

doi:10.1109/iros.2004.1389852

Cited by 13 publications

(19 citation statements)

References 11 publications

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“…However, an exception is given by the [37,84,85] works, for which an extended model of a six-degrees-of-freedom anthropomorphic industrial manipulator is created, exploiting a model-based simulation tool. Indeed, the inverse approach has been adopted on a broad variety of systems with one degree of freedom-such as a liquid-crystal display glass-handling robot [43,44,46]; a toggle mechanism [45,47]; a precision positioning table [51][52][53]; a linear axis [57]; generic, one-degree-of-freedom systems [55,56,58]; and one-degree-of-freedom manipulators mounted on a flexible base [38,39]-with two degrees of freedom with rigid [49] and flexible links [59]; with three degrees of freedom, such as a redundant planar manipulator [40,54]; and with six degrees of freedom, such as an anthropomorphic industrial manipulator [41,42,48].…”

Section: Point-to-point Trajectory Optimizationmentioning

confidence: 99%

A Review on Energy-Saving Optimization Methods for Robotic and Automatic Systems

2017

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Abstract:In the last decades, increasing energy prices and growing environmental awareness have driven engineers and scientists to find new solutions for reducing energy consumption in manufacturing. Although many processes of a high energy consumption (e.g., chemical, heating, etc.) are considered to have reached high levels of efficiency, this is not the case for many other industrial manufacturing activities. Indeed, this is the case for robotic and automatic systems, for which, in the past, the minimization of energy demand was not considered a design objective. The proper design and operation of industrial robots and automation systems represent a great opportunity for reducing energy consumption in the industry, for example, by the substitution with more efficient systems and the energy optimization of operation. This review paper classifies and analyses several methodologies and technologies that have been developed with the aim of providing a reference of existing methods, techniques and technologies for enhancing the energy performance of industrial robotic and mechatronic systems. Hardware and software methods, including several subcategories, are considered and compared, and emerging ideas and possible future perspectives are discussed.

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Section: Point-to-point Trajectory Optimizationmentioning

confidence: 99%

A Review on Energy-Saving Optimization Methods for Robotic and Automatic Systems

2017

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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%

“…Then, linear optimization [22], non-linear optimization [23], evolutionary [24] or classical stochastic techniques [25] are applied to obtain optimal values of the parameters. Hence, this technique usually leads to being time consuming and quite ineffective due to the large number of parameters involved [20,21,26]. The indirect method is characterized by a "first optimize, then discretize" strategy.…”

Section: Control Of Robotmentioning

confidence: 99%

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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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“…However, because of the off-line nature of the open loop optimal control in spite of the close-loop ones, many difficulties such as system nonlinearities and all types of constraints may be catered for and implemented easily, so it generally used in analyzing nonlinear systems such as trajectory optimization of different types of robots [7,8]. It solved by direct and indirect approaches.…”

Section: Introductionmentioning

confidence: 99%

Finite Element Method and Optimal Control Theory for Path Planning of Elastic Manipulators

Korayem

Haghpanahi

Rahimi

et al. 2009

Studies in Computational Intelligence

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Abstract. Planning of robot trajectory is a very complex task that plays a crucial role in design and application of robots in task space. This paper is concerned with path planning of flexible robot arms for a given two-end-point task in point-topoint motion, based on indirect solution of optimal control problem. We employ the finite element method to modeling and deriving the dynamic equations of robot manipulator with flexible link, so in the presence of all nonlinear terms in dynamic equations open loop optimal control approach is a good candidate for generating the path that optimizes the end effector trajectory. Then the Hamiltonian function is formed and the necessary conditions for optimality are derived from the Pontryagin's minimum principle. The obtained equations establish a two point boundary value problem which is solved by numerical techniques. Finally, simulations for a two-link planar manipulator with flexible links are carried out to investigate the efficiency of the presented method. The results illustrate the power and efficiency of the method to overcome the high nonlinearity nature of the problem.

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Discrete dynamic programming for optimized path planning of flexible robots

Cited by 13 publications

References 11 publications

A Review on Energy-Saving Optimization Methods for Robotic and Automatic Systems

A Review on Energy-Saving Optimization Methods for Robotic and Automatic Systems

Nonlinear dynamic analysis for elastic robotic arms

Finite Element Method and Optimal Control Theory for Path Planning of Elastic Manipulators

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