DocumentCode :
2913238
Title :
Quasi-static object manipulation by mobile robot: Optimal motion planning using GA
Author :
Barghijand, Hossein ; Akbarimajd, Adel ; Keighobadi, Jafar
Author_Institution :
Dept. of Mechatron., Islamic Azad Univ., Ahar, Iran
fYear :
2011
fDate :
22-24 Nov. 2011
Firstpage :
202
Lastpage :
207
Abstract :
Quasi-static object manipulation using a wheeled mobile robot is studied. For a mobile robot, as a typical set-up for transportation of objects, dynamic grasp problem is defined. It is assumed that the robot moves along a straight path and carries an object on its upper surface and the object should not move relative to the robot (dynamic grasp problem). It is also assumed that the robot has limited wheel motors torque. It is shown that to preserve dynamic grasp between the object and the robot, acceleration of the robot has to remain in a specified range. A third order polynomial for position equation of the mobile robot is selected and dynamic grasp and torque conditions are sketched as a constraint on acceleration of the robot. An optimization problem is proposed to find the optimal motion of the robot. A genetic algorithm is proposed to solve the optimization problem. The solutions are validated by simulations in MSC-ADAMS and MATLAB in general case of the optimization problem and also in minimum time, maximum distance and minimum energy problems as special cases of the general problem.
Keywords :
genetic algorithms; manipulators; mobile robots; path planning; polynomial approximation; torque motors; wheels; GA; MATLAB; MSC-ADAMS; dynamic grasp problem; genetic algorithm; object transportation; optimal motion planning; optimization problem; position equation; quasistatic object manipulation; third order polynomial; wheel motor torque; wheeled mobile robot; Dynamics; Genetic algorithms; Manipulator dynamics; Mobile robots; Optimization; Planning; Dynamic Object Manipulation; Genetic Algorithm; Mobile Robots; Motion Planning;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Systems Design and Applications (ISDA), 2011 11th International Conference on
Conference_Location :
Cordoba
ISSN :
2164-7143
Print_ISBN :
978-1-4577-1676-8
Type :
conf
DOI :
10.1109/ISDA.2011.6121655
Filename :
6121655
Link To Document :
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