Single Task Optimization-Based Planar Box Delivery Motion Simulation and Experimental Validation-Reference-Cited by-同舟云学术

Single Task Optimization-Based Planar Box Delivery Motion Simulation and Experimental Validation

Published:2021-02-23 Issue:2 Volume:13 Page:
ISSN:1942-4302
Container-title:Journal of Mechanisms and Robotics
language:en
Short-container-title:

Author:

Xiang Yujiang¹,Tahmid Shadman²,Owens Paul³,Yang James²

Affiliation:

1. Department of Mechanical and Aerospace Engineering, Oklahoma State University, Stillwater, OK 74078

2. Department of Mechanical Engineering, Texas Tech University, Lubbock, TX 79409

3. Department of Mechanical Engineering, University of Alaska Fairbanks, Fairbanks, AK 99775

Abstract

Abstract Box delivery is a complicated task and it is challenging to predict the box delivery motion associated with the box weight, delivering speed, and location. This paper presents a single task-based inverse dynamics optimization method for determining the planar symmetric optimal box delivery motion (multi-task jobs). The design variables are cubic B-spline control points of joint angle profiles. The objective function is dynamic effort, i.e., the time integral of the square of all normalized joint torques. The optimization problem includes various constraints. Joint angle profiles are validated through experimental results using root-mean-square-error (RMSE) and Pearson’s correlation coefficient. This research provides a practical guidance to prevent injury risks in joint torque space for workers who lift and deliver heavy objects in their daily jobs.

Funder

National Science Foundation

Publisher

ASME International

Subject

Mechanical Engineering

Link

http://asmedigitalcollection.asme.org/mechanismsrobotics/article-pdf/doi/10.1115/1.4049647/6660852/jmr_13_2_024501.pdf

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