Minimum-time optimal control of robotic manipulators based on Hamel’s integrators
Minimum-time optimal control of robotic manipulators based on Hamel’s integrators
复制标题
基于 Hamel 积分器的机器人机械手的最短时间最优控制
DOI：
10.1007/s11012-019-01093-1
复制
发表时间：
2019
期刊：
影响因子：
2.7
通讯作者：
Donghua Shi
中科院分区：
文献类型：
--
作者：
Zhipeng An;Huibin Wu;Donghua Shi
在本文中，我们开发了一个框架的时间优化路径规划的机器人机械手周围的静态障碍。我们的方法是基于递归动力学方法和Hamel的积分。我们采用线性规划技术来解决表示为状态约束的避碰问题。所得到的算法是简单的实现和这种方法的性能证明通过两个例子。数值结果验证了该算法的有效性。
In this paper, we develop a framework of time optimization path planning for robotic manipulators surrounded by static obstacles. Our approach is based on the recursive dynamics method and Hamel’s integrators. We adopt the linear programming techniques to solve the problem of the collision avoidance expressed as state constraints. The resulting algorithm is simple to implement and the performance of this approach is demonstrated through two examples. Numerical results are shown to validate the efficiency of the proposed algorithm.