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

fYear

2009

fDate

23-26 March 2009

Firstpage

1

Lastpage

6

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/ISMA.2009.5164817

Filename

5164817