Trajectory Optimization of Flexible Manipulators for Collision-Free

We develop a new method of trajecory optimization of redundant flexible manipulators for collision-free utilizing the B-spline function and a mathematical programming method. We adopt an approximate flexible manipulator model which consists of rigid bar elements and spring elements. We use B-spline...

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Bibliographic Details
Published inTransactions of the Japan Society of Mechanical Engineers Series C Vol. 66; no. 644; pp. 1250 - 1257
Main Authors YAMAKAWA, Hiroshi, LEE, Seung-Je
Format Journal Article
LanguageEnglish
Japanese
Published The Japan Society of Mechanical Engineers 2000
Subjects
B-Spline Function
Collision-Free
Flexible Structure
Manipulator
Optimal Trajectory
Redundant Manipulators
Space Robot
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ISSN0387-5024
1884-8354
DOI10.1299/kikaic.66.1250

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Summary:We develop a new method of trajecory optimization of redundant flexible manipulators for collision-free utilizing the B-spline function and a mathematical programming method. We adopt an approximate flexible manipulator model which consists of rigid bar elements and spring elements. We use B-spline function for determining the approximate trajectory and the expressions of the outline of obstacles. The used total performance index consists of 2 performance indices. The first is the driving energy, and the second is the trajectory deviation which is caused by the approximate modeling for the flexible manipulator. We design optimal collision-free trajectory of flexible manipulators by searching optimum position of the control points for B-spline approximation which minimize the performance index subject to constraint condition for collision-free. Some examinations through numerical examples show the effectiveness of the method.
ISSN:0387-5024
1884-8354
DOI:10.1299/kikaic.66.1250