Abstract
SUMMARYIn this paper, a new approach is presented for perfect torque compensation of the robot in point-to-point motions. The proposed method is formulated as an open-loop optimal control problem. The problem is defined as optimal trajectory planning with adjustable design parameters to compensate applied torques of a planar 5R parallel robot for a given task, perfectly. To illustrate the effectiveness of the approach, the obtained optimal path is used as the reference command in the experiment. The experimental outputs show that the performance index has been reduced by over 80% compared to the typical design of the robot.
Publisher
Cambridge University Press (CUP)
Subject
Computer Science Applications,General Mathematics,Software,Control and Systems Engineering
Reference38 articles.
1. A Control Method for Joint Torque Minimization of Redundant Manipulators Handling Large External Forces
2. Minimum cost trajectory planning for industrial robots
3. 1. Merlet, J. P. , Parallel Robots (Springer Science & Business Media, Netherlands, 2006).
4. Minimum Energy Control of Redundant Systems Using Evolutionary Bi-Level Optimization;Nusbaum;ASME International Mechanical Engineering Congress and Exposition,2018
5. V2: A Novel Two Degree-of-Freedom Parallel Manipulator Designed for Pick-and-Place Operations;Meng;IEEE International Conference on Robotics and Biomimetics,2017
Cited by
4 articles.
订阅此论文施引文献
订阅此论文施引文献，注册后可以免费订阅5篇论文的施引文献，订阅后可以查看论文全部施引文献