Research Initiation: Optimal Trajectory Planning and Control of Robotic Manipulators

本研究的重点是机械手控制技术，以提高性能，以及一种方法，使机械手能够更容易地离线编程。改善机械手性能的研究课题包括：时间最优控制算法的实现，消除集总参数灵活性引起的机械手振动的控制方案的开发，以及基于模型参考的自适应控制方案的开发。这项研究将改进机械手的编程方式。将开发一种用于大型运动轨迹规划的算法，该算法将给出通过包含障碍物的工作空间的最短时间、无碰撞的路径。对于这些主题中的每一个，都将努力确保可以使用最先进的电子技术和并行处理技术在软件和硬件中实施这些算法。只要有可能，就会使用实验测试仪器来测试算法。

This research focuses on manipulator control techniques for improved performance, and a method to enable manipulators to be more easily programmed off-line. The research topics for improving manipulator performance are: implementation of a time-optimal control algorithm, development of a control scheme which will eliminate manipulator vibrations due to lumped-parameter flexibilities, and development of a model-referenced adaptive control scheme. This research will improve the manner in which manipulators are programmed. An algorithm will be developed for large motion trajectory planning which will give the minimum-time, collision-free path through a workspace containing obstacles. For each of these topics, effort will be made to ensure that the algorithms can be implemented in software and hardware using state-of-the-art electronics and parallel processing techniques. Experimental test apparatuses will be used to test the algorithms whenever possible.