Trajectory planning for variable geometry truss manipulator via LMI optimization

Author

Yanchun Zhao ; Shiqiang Hu ; Yongsheng Yang

Author_Institution

Sch. of Aeronaut. & Astronaut., Shanghai Jiao Tong Univ., Shanghai, China

fYear

2014

fDate

28-29 Sept. 2014

Firstpage

1

Lastpage

6

Abstract

In this paper, an optimal trajectory of the variable geometry truss (VGT) manipulator in point-to-point motion is proposed. To achieve this goal, the kinematic model of a VGT module is introduced and a trajectory optimization model considering the physical limits of the VGT manipulator is accomplished. By employing LMI (Linear Matrix Inequalities) optimization, the problem gets solved under some restraint condition on the structural of VGT. The numerical simulation substantiates the effectiveness of the introduced approach.

Keywords

linear matrix inequalities; manipulator kinematics; motion control; optimisation; trajectory control; LMI optimization; VGT module; kinematic model; linear matrix inequalities; optimal trajectory; point-to-point motion; trajectory optimization model; trajectory planning; variable geometry truss manipulator; Kinematics; Linear matrix inequalities; Manipulators; Mathematical model; Optimization; Planning; Trajectory; LMI optimization; VGT manipulator; kinematic model; trajectory planning;

fLanguage

English

Publisher

ieee

Conference_Titel

Multisensor Fusion and Information Integration for Intelligent Systems (MFI), 2014 International Conference on

Conference_Location

Beijing

Print_ISBN

978-1-4799-6731-5

Type

conf

DOI

10.1109/MFI.2014.6997681

Filename

6997681