Title :
Optimal trajectory planning with maximum load carrying capacity for cable suspended robots
Author :
Korayem, Moharam Habibnejad ; Bamdad, Mahdi ; Bayat, Sharareh
Author_Institution :
Robotic Res. Lab. Narmak, Iran Univ. of Sci. & Technol., Tehran, Iran
Abstract :
In this paper, determination of the maximum-payload trajectory of cable-based parallel robot on the basis of the optimal control approach is presented. For capacity prediction, optimality conditions are obtained using the Pontryagin´s minimum principle (PMP) which leads to the bang-bang control in a two-point boundary value problem (TPBVP) solution.
Keywords :
bang-bang control; boundary-value problems; industrial robots; materials handling equipment; maximum principle; optimal control; path planning; Pontryagin minimum principle; bang-bang control; cable based parallel robot; cable suspended robot; capacity prediction; maximum load carrying capacity; maximum payload trajectory; optimal control; optimal trajectory planning; optimality condition; two-point boundary value problem; Capacity planning; Laboratories; Manipulator dynamics; Mechanical cables; Optimal control; Parallel robots; Path planning; Payloads; Robot kinematics; Trajectory;
Conference_Titel :
Mechatronics and its Applications, 2009. ISMA '09. 6th International Symposium on
Conference_Location :
Sharjah
Print_ISBN :
978-1-4244-3480-0
Electronic_ISBN :
978-1-4244-3481-7
DOI :
10.1109/ISMA.2009.5164817
