Roland Riepl, Hubert Gattringer, Hartmut Bremer,
"An Approach to Optimal Motion Planning for Robotic Applications"
: Proceedings of 9th International Conference on Motion and Vibration Control MOVIC 2008, 2008
Original Titel:
An Approach to Optimal Motion Planning for Robotic Applications
Sprache des Titels:
Englisch
Original Buchtitel:
Proceedings of 9th International Conference on Motion and Vibration Control MOVIC 2008
Original Kurzfassung:
This paper focuses on time and energy optimal control methods in the
modern field of robotics and their verification by experiment. Considering a typical
scenario where a robot manipulator's trajectory is known in advance, a feed forward
control - weighting time and energy to obtain optimal controls - is presented
in this document. By introducing trajectory parameters which effectively describe
the progress of the trajectory as a function of time, optimal control variables can be
found. The controls however are subject to different limits arising from physical restrictions
like limited joint angles, velocities, jerks and available motor torques. Taking
these aspects into account the necessary and highly nonlinear dynamical model
of the robot is computed with the projection equation in subsystem representation.
An optimization problem will be formulated and then numerically solved including
the robots' complete dynamics. To verify the calculations the offline-computed
and optimized trajectory will be followed with a Stäubli industrial robot and the
calculated and measured motor torques are compared. To counter model inaccuracies,
like friction or temperature dependencies, an additional feedback control loop
assures stability. The measurements and simulations will be accordingly compared
and discussed.
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