Proceedings of the Korean Society for Noise and Vibration Engineering Conference (한국소음진동공학회:학술대회논문집)
- 2001.05a
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- Pages.979-983
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- 2001
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- 1598-2548(pISSN)
Trajectory Optimization of Flexible Manipulators
유연마니퓨레이터의 궤도최적화
Abstract
We develop a new method of simultaneous optimization of trajectory and shape of redundant flexible manipulators for collision-free utilizing the B-spline function and a mathematical programming method We adopt an approximate flexible manipulator model which consists of rigid bar elements and spring elements. We use B-spline function for determining the approximate trajectory and the expressions of the outline of obstacles. The used total performance index consists of 2 performance indices. The first is the driving energy, and the second is the trajectory deviation which is caused by the approximate modeling for the flexible manipulator. We design optimal collision-free trajectory of flexible manipulators by searching optimum positions of the control points for B-spline approximation which minimize the performance index subject to constraint condition for collision-free. Some examinations through numerical examples show the effectiveness of the method
Keywords
- Redundant Flexible Manipulators;
- Collision-Free;
- Optimal Trajectory;
- Optimal Shape;
- B-Spline Function