Title :
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
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;
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
