Study on Optimal Motion Trajectory of Multi-Degree-of Freedom Articulated Mechanism

点击翻译按钮获取中文摘要

In order to develop a generic optimal motion planning method and to investigate features of the optimal motion of articulated mechanisms, we formulated an approximated numerical method based on the fifth-order Hermite polynomial and nonlinear numerical optimal planning methods. By using this method we derived the minimum time motion trajectory of direct drive robotic manipulators under average heat generation constraint in terms of Kuhn-Tucker theorem and verified the effectiveness of the solution by experiments. In order to markedly reduce the computing time, we also developed a quazi-minimum time motion planning method that can always leads to a good approximated solution to the strictly optimum solution. For investigation of more complex motion of articulated mechanisms, we developed a numerical method to get an optimal human arm motion that can throw a ball at maximum speed and found that the optimal motions are classified into two groups. We also studied a numerical method to obtain the optimal otion of giant swing as a typical example of the non-holonomic constraint motion. An approximated solution with zero input torque at the first axis could be obtained by using the penalty method. By introducing friction torque between hand and bar and allowable region of arm motion, we could get a solution that is similar to a real human body motion of the giant swing