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Time suboptimal control of industrial manipulators along specified paths while keeping an end-effector orientation unchanged

Published online by Cambridge University Press:  19 February 2003

S. Kilicaslan  and
Y. Ercan
S. Kilicaslan
Affiliation:
Mechanical Engineering Department, Faculty of Engineering and Architecture, Gazi University, 06570 Maltepe, Ankara (Turkey). aslan@mmf.gazi.edu.tr
Y. Ercan
Affiliation:
Mechanical Engineering Department, Faculty of Engineering and Architecture, Gazi University, 06570 Maltepe, Ankara (Turkey). aslan@mmf.gazi.edu.tr
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Abstract

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A method for the time suboptimal control of an industrial manipulator that moves along a specified path while keeping its end-effector orientation unchanged is proposed. Nonlinear system equations that describe the manipulator motion are linearized at each time step along the path. A method which gives control inputs (joint angular velocities) for time suboptimal control of the manipulator is developed. In the formulation, joint angular velocity and acceleration limitations are also taken into consideration. A six degree of freedom elbow type manipulator is used in a case study to verify the method developed.

Keywords

ManipulatorsConstant orientation problemTrajectory trackingTime suboptimal control
Type
Research Article
Information
Robotica , Volume 21 , Issue 2 , March 2003 , pp. 153 - 161
Copyright
© 2003 Cambridge University Press