Optimal trajectory planning and tracking control method for overhead cranes

2016 ◽  
Vol 10 (6) ◽  
pp. 692-699 ◽  
Author(s):  
He Chen ◽  
Yongchun Fang ◽  
Ning Sun
Keyword(s):  
Trajectory Planning ◽  
Tracking Control ◽  
Optimal Trajectory ◽  
Control Method ◽  
Overhead Cranes ◽  
Optimal Trajectory Planning

scholarly journals Optimal Trajectory Planning of the Variable-Stiffness Flexible Manipulator Based on CADE Algorithm for Vibration Reduction Control

2021 ◽  
Vol 9 ◽  
Author(s):  
Qiang Cheng ◽  
Wenxiang Xu ◽  
Zhifeng Liu ◽  
Xiaolong Hao ◽  
Yi Wang
Keyword(s):  
Trajectory Planning ◽  
Optimal Trajectory ◽  
Vibration Suppression ◽  
Control Method ◽  
Minimum Energy ◽  
Variable Stiffness ◽  
Robotic Manipulators ◽  
Flexible Manipulator ◽  
Vibration Displacement ◽  
Optimal Trajectory Planning

Robotic manipulators are widely used for precise operation in the medical field. Vibration suppression control of robotic manipulators has become a key issue affecting work stability and safety. In this paper an optimal trajectory planning control method to suppress the vibration of a variable-stiffness flexible manipulator considering the rigid-flexible coupling is proposed. Through analyzing the elastic deformation of the variable-stiffness flexible manipulator, a distributed dynamic physical model of the flexible manipulator is constructed based on the Hamilton theory. Based on the mathematical model of the system, the design of the vibration damping controller of the flexible manipulator is proposed, and the control system with nonlinear input is considered for numerical analysis. According to the boundary conditions, the vibration suppression effect of the conventional and the variable-stiffness flexible manipulator is compared. The motion trajectory of the variable-stiffness flexible manipulator and compare the vibration response from different trajectories. Then, with minimum vibration displacement, minimum energy consumption and minimum trajectory tracking deviation as performance goals, the trajectory planning of the variable-stiffness flexible manipulator movement is carried out based on the cloud adaptive differential evolution (CADE) optimization algorithm. The validity of the proposed trajectory planning method is verified by numerical simulation.

scholarly journals Time-jerk optimal trajectory planning of hydraulic robotic excavator

2021 ◽  
Vol 13 (7) ◽  
pp. 168781402110346
Author(s):  
Yunyue Zhang ◽  
Zhiyi Sun ◽  
Qianlai Sun ◽  
Yin Wang ◽  
Xiaosong Li ◽  
...  
Keyword(s):  
Angular Velocity ◽  
Trajectory Planning ◽  
Optimal Trajectory ◽  
High Efficiency ◽  
Optimal Solution ◽  
Optimal Time ◽  
Target Point ◽  
Robotic Excavator ◽  
The Impact ◽  
Optimal Trajectory Planning

Due to the fact that intelligent algorithms such as Particle Swarm Optimization (PSO) and Differential Evolution (DE) are susceptible to local optima and the efficiency of solving an optimal solution is low when solving the optimal trajectory, this paper uses the Sequential Quadratic Programming (SQP) algorithm for the optimal trajectory planning of a hydraulic robotic excavator. To achieve high efficiency and stationarity during the operation of the hydraulic robotic excavator, the trade-off between the time and jerk is considered. Cubic splines were used to interpolate in joint space, and the optimal time-jerk trajectory was obtained using the SQP with joint angular velocity, angular acceleration, and jerk as constraints. The optimal angle curves of each joint were obtained, and the optimal time-jerk trajectory planning of the excavator was realized. Experimental results show that the SQP method under the same weight is more efficient in solving the optimal solution and the optimal excavating trajectory is smoother, and each joint can reach the target point with smaller angular velocity, and acceleration change, which avoids the impact of each joint during operation and conserves working time. Finally, the excavator autonomous operation becomes more stable and efficient.

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