Research Initiation: Optimal Trajectory Planning and Control of Robotic Manipulators

本研究的重点是提高机械臂性能的控制技术，以及一种使机械臂更容易离线编程的方法。提高机械臂性能的研究课题是：实现时间最优控制算法，开发一种控制方案来消除由于集总参数柔性引起的机械臂振动，以及开发一种模型参考自适应控制方案。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，该算法将在包含障碍物的工作空间中给出最短时间，无碰撞的路径。对于这些主题中的每一个，将努力确保算法可以使用最先进的电子和并行处理技术在软件和硬件中实现。在可能的情况下，将使用实验测试设备对算法进行测试。

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.