Optimal trajectory planning of a two-link flexible robot arm based on genetic algorithm for residual vibration reduction

Kojima, Hiroyuki; Kibe, Tetsuji

doi:10.1109/iros.2001.976409

Cited by 20 publications

(14 citation statements)

References 11 publications

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“…The control of the end-effector is based on the simultaneous application of two functions [15][16][17][18][19], as shown in Figure 4. The first function aims to generate a correct S-shape trajectory from the starting point A to the final point B (Figure 4a), while the second function guarantees the accuracy in trajectory tracking, reducing any potential perturbation ( Figure 4b).…”

Section: Dual Control Strategy Developmentmentioning

confidence: 99%

Dual Control for Jerk-Driven Robotics in Rehabilitative Planar Applications

2020

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This study compares a set of strategies to plan and control the trajectory of a robotic device in a planar workspace. These strategies are based on an affective application of jerk-laws able to indicate undesirable conditions (e.g., vibrations) facilitating the device control. The jerk is the time derivative of acceleration, and this solution provides an indirect means to control the variation rate of the actuator torques, while avoiding the complex robot dynamic models and their algorithms for computing the dynamics. In order to obtain a smooth trajectory, a regulator to control a robotic device has been developed and validated. It consists of the implementation of two control modules able to (i) generate the predefined trajectory and (ii) guarantee the path tracking, reducing unwanted effects. In this case a simple S-shaped path has been originated by the “trajectory generator module” as a reference movement to rehabilitate upper limb functionality. The numerical simulation and the results of preliminary tests show the efficacy of the proposed approach through the vibration smoothness appraisal associated with the motion profile.

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Section: Dual Control Strategy Developmentmentioning

confidence: 99%

Dual Control for Jerk-Driven Robotics in Rehabilitative Planar Applications

2020

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“…[14][15][16] In this section, this problem is considered and the ability of the proposed method to solve it is shown. Simulations are performed for two cases.…”

Section: Minimum Vibration Trajectorymentioning

confidence: 99%

Trajectory optimization of flexible link manipulators in point-to-point motion

2008

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The aim of this paper is to determine the optimal trajectory and maximum payload of flexible link manipulators in point-to-point motion. The method starts with deriving the dynamic equations of flexible manipulators using combined Euler-Lagrange formulation and assumed modes method. Then the trajectory planning problem is defined as a general form of optimal control problem. The computational methods to solve this problem are classified as indirect and direct techniques. This work is based on the indirect solution of open-loop optimal control problem. Because of the offline nature of the method, many difficulties like system nonlinearities and all types of constraints can be catered for and implemented easily. By using the Pontryagin's minimum principle, the obtained optimality conditions lead to a standard form of a two-point boundary value problem solved by the available command in MATLAB R . In order to determine the optimal trajectory a computational algorithm is presented for a known payload and the other one is then developed to find the maximum payload trajectory. The optimal trajectory and corresponding input control obtained from this method can be used as a reference signal and feedforward command in control structure of flexible manipulators. In order to clarify the method, derivation of the equations for a planar two-link manipulator is presented in detail. A number of simulation tests are performed and optimal paths with minimum effort, minimum effort-speed, maximum payload, and minimum vibration are obtained. The obtained results illustrate the power and efficiency of the method to solve the different path planning problems and overcome the high nonlinearity nature of the problems.

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“…Gao et al have applied a genetic algorithm based on the Pareto front approach to synthetize a 6-DOF parallel manipulator [18]. A genetic algorithm has also been adopted to optimize the parameters of cubic polynomials, in which four cubic polynomials are used to describe angular velocities of a flexible manipulator's two joints [19]. Chen et al have proposed an analytical approach to determine the redundant parameters for the calibration of serial manipulators [20].…”

Section: Introductionmentioning

confidence: 99%

Optimization and Experimental Study of an Intelligent Bamboo-Splitting Machine Charging Manipulator

Liu

Wen

et al. 2020

Journal of Robotics

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A nonautomatic bamboo-splitting machine must charge with material and change tools manually. However, manual charging is very dangerous. An intelligent bamboo-splitting machine can feed automatically and change tools intelligently and has broad application prospects. A charging manipulator is an important part of an intelligent bamboo-splitting machine. The size of the manipulator was optimized here using a genetic algorithm. The capture rate, centering rate, and dynamic characteristics of an intelligent bamboo-splitting machine charging manipulator, in which key factors were considered, were experimentally studied. First, three different manipulators, with arm lengths at 210, 220, and 230 mm, were developed. Then, the bamboo materials were divided into three gradients (60–85, 85–110, and 110–135 mm) according to diameter ranges. Accelerators were used to measure the manipulator arm dynamic characteristics, and a high-speed charge-coupled device was used to record the grasping process. Experimental results showed that the manipulator capture rate with an arm length of = 220 mm was as high as 100%, but that of manipulators with arm lengths of = 210 and 230 mm was 96 and 98.67%, respectively. Thus, the manipulator with a 220 mm arm length showed better performance than the other two manipulators. Trend curves of the influence of material diameter on capture time were similar to an exponential function.

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Optimal trajectory planning of a two-link flexible robot arm based on genetic algorithm for residual vibration reduction

Cited by 20 publications

References 11 publications

Dual Control for Jerk-Driven Robotics in Rehabilitative Planar Applications

Dual Control for Jerk-Driven Robotics in Rehabilitative Planar Applications

Trajectory optimization of flexible link manipulators in point-to-point motion

Optimization and Experimental Study of an Intelligent Bamboo-Splitting Machine Charging Manipulator

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