Near Optimum Control of Flexible Robot Arms on Fixed Paths

Book, Wayne J.; Cetinkunt, Sabri

Title:

Near Optimum Control of Flexible Robot Arms on Fixed Paths

dc.contributor.author	Book, Wayne J.
dc.contributor.author	Cetinkunt, Sabri
dc.contributor.corporatename	Georgia Institute of Technology. School of Mechanical Engineering
dc.contributor.corporatename	Georgia Institute of Technology. Center for Robotics and Intelligent Machines
dc.date.accessioned	2011-06-17T20:08:37Z
dc.date.available	2011-06-17T20:08:37Z
dc.date.issued	1985-12
dc.description	(c) 1985 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.	en_US
dc.description	Digital Object Identifier : 10.1109/CDC.1985.268769
dc.description.abstract	This paper presents the analysis and modification of near optimum trajectories for robotic manipulators moving along pre-defined paths. Modifications of trajectories are done such that the vibrations due to flexibility of arms and other components of the manipulator are minimized. Ultimately, the productivity of robotic manipulators depends on the speed of the task execution. Higher productivity requires higher speed of operation and in turn better control and trajectory generation algorithms. Today trajectory generation algorithms do not consider the dynamic characteristics of the manipulators. In order to utilize the available capability in the optimum manner the trajectory generation algorithms need to consider the dynamics of the manipulator, actuator constraints, nature of the task, and flexibility of arms and compliance of the joint connections. In the search for an optimal trajectory that will meet all of the above requirements while optimizing some criterion, some simplifying assumptions have to be made and/or some of the requirements have to be kept out of the formulation so that the defined problem can be solved or some feasible solutions obtained. Once the simplified problem is solved, one may consider modifying the original solution in such a way that the excluded requirements are also satisfied to some extent. In this paper the minimum time control solution of a two link flexible arm with actuator constraints is presented. We solved the minimum time problem with no constraints on the flexible modes and show the time improvement due to the use of light-weight arms. The objective is to modify the trajectory, such that flexible vibrations are bounded while changing the solution from the previous one as little as possible. Practical ways of trajectory modifications for flexible arms are discussed.	en_US
dc.identifier.citation	Book, Wayne and Sabri Cetinkunt, "Near Optimum Control of Flexible Robot Arms on Fixed Paths," 1985 IEEE Conference on Decision and Control, Ft. Lauderdale, FL, December 11-13, 1985.	en_US
dc.identifier.uri	http://hdl.handle.net/1853/39184
dc.language.iso	en_US	en_US
dc.publisher	Georgia Institute of Technology	en_US
dc.publisher.original	Institute of Electrical and Electronics Engineers
dc.subject	Robotic manipulators	en_US
dc.subject	Flexible manipulators	en_US
dc.subject	Trajectory tracking	en_US
dc.title	Near Optimum Control of Flexible Robot Arms on Fixed Paths	en_US
dc.type	Text
dc.type.genre	Proceedings
dspace.entity.type	Publication
local.contributor.author	Book, Wayne J.
local.contributor.corporatename	George W. Woodruff School of Mechanical Engineering
local.contributor.corporatename	College of Engineering
local.contributor.corporatename	Institute for Robotics and Intelligent Machines (IRIM)
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