Optimum design of planar redundant cable-suspended robots for minimum time trajectory tracking

Author

Fahham, Hamid Reza ; Farid, Mehrdad

Author_Institution

Islamic Azad Univesity, Marvdasht, Iran

fYear

2010

Firstpage

2156

Lastpage

2163

Abstract

In this paper, the optimum configuration of superfluous cables in redundant planar cable-suspended robots for minimum time trajectory is investigated. Both cable tensions and cable velocities are assumed to be limited. The bounds on the cable tensions and velocities are transformed into the bounds on the acceleration and velocity along the specified path. Assuming bang-bang control and using genetic algorithm, optimum configuration of superfluous cables and the corresponded switching points are obtained. Moreover, the effect of number of superfluous cables on the minimum time is investigated.

Keywords

acceleration control; bang-bang control; cables (mechanical); genetic algorithms; position control; robots; tracking; velocity control; acceleration; bang-bang control; cable tension; cable velocity; genetic algorithm; minimum time trajectory tracking; optimum design; planar redundant cable-suspended robot; superfluous cable; Acceleration; Equations; Manipulators; Mathematical model; Mechanical cables; Trajectory; Bang-Bang Control; Cable-Suspended Robots; Genetic Algorithm; Optimum Design; Time Optimal Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Automation and Systems (ICCAS), 2010 International Conference on

Conference_Location

Gyeonggi-do

Print_ISBN

978-1-4244-7453-0

Electronic_ISBN

978-89-93215-02-1

Type

conf

Filename

5670228