Least-energy Maneuver of Five-link Manipulator Constrained within Tunnel Space Using Direct Collocation

Journal of System Simulation ›› 2015, Vol. 27 ›› Issue (8): 1844-1852.

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Least-energy Maneuver of Five-link Manipulator Constrained within Tunnel Space Using Direct Collocation

Pan Xiuqiang, Mei Chengcai, Chen Junjie

College of Information and Communications, Zhejiang Industry and Trade Vocational College, Wenzhou 325003, China

Received:2015-05-15 Revised:2015-07-09 Online:2015-08-08 Published:2020-08-03
About author:Pan Xiuqiang (1978-), Male, Yongjia, Zhejiang, China, Associate professor, Master, Optimal Control, Image processing; Mei Chengcai (1980-), Male, Pingyang, China Master; Chen Junjie (1960-), Male, Ph.D.
Supported by:
Expert Pioneer Project of Zhejiang (LJ2013146)

Abstract

Abstract: Optimal control and designs least-energy maneuver control laws for a five-linked manipulator were applied in order to carry out designated tasks in a confined space. Lagrange-Euler equation described the relationships between the actuators and system dynamics. Euler-Lagrange formulation indicates how optimization can be achieved when optimum occurs. Direct collocation method was introduced in order to solve this highly nonlinear dynamic optimal control problem. Simulations were done to exploit how the manipulator reacted to the constraint. In this study, the diameter of the cylindrical space was shrunken each time by 0.1 meters. The value of the cost function and final time observed.

Key words: robotic control, optimization, direct collocation, confined workspace

CLC Number:

TP391.9

Pan Xiuqiang, Mei Chengcai, Chen Junjie. Least-energy Maneuver of Five-link Manipulator Constrained within Tunnel Space Using Direct Collocation[J]. Journal of System Simulation, 2015, 27(8): 1844-1852.

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Least-energy Maneuver of Five-link Manipulator Constrained within Tunnel Space Using Direct Collocation

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