Analysis of Optimal Balancing for Robotic Manipulators in Repetitive Motions

2018 ◽  
Vol 140 (8) ◽  
Author(s):  
Amin Nikoobin ◽  
Mojtaba Moradi
Keyword(s):  
Performance Improvement ◽  
Trajectory Planning ◽  
Cost Reduction ◽  
Robotic Manipulators ◽  
Point Of View ◽  
Dynamic Equations ◽  
Potential Fields ◽  
Cost Functions ◽  
Closed Contour ◽  
Static Balancing

Balancing plays a major role in performance improvement of robotic manipulators. From an optimization point of view, some balancing parameters can be modified to decrease motion cost. Recently introduced, this concept is called optimal balancing: an umbrella term for static balancing and other balancing methods. In this method, the best combination of balancing and trajectory planning is sought. In this note, repetitive full cycle motion of robot manipulators including different subtasks is considered. The basic idea arises from the fact that, upon changing dynamic equations of a robotic manipulator or cost functions in subtasks, the entire cycle of motion must be reconsidered in an optimal balancing problem. The possibility of cost reduction for a closed contour in potential fields is shown by some simulations done for a PUMA-like robot. Also, the obtained results show 34.8% cost reduction compared to that of static balancing.

scholarly journals Adaptive Artificial Potential Fields with Orientation Control Applied to Robotic Manipulators

2020 ◽  
Vol 53 (2) ◽  
pp. 9924-9929
Author(s):  
Caio Cristiano Barros Viturino ◽  
Ubiratan de Melo Pinto Junior ◽  
André Gustavo Scolari Conceição ◽  
Leizer Schnitman
Keyword(s):  
Robotic Manipulators ◽  
Potential Fields ◽  
Orientation Control ◽  
Artificial Potential Fields

Investigations on Dynamic Puncture Behaviors of Integrated Composite Reinforced with Varying Fabrics

2013 ◽  
Vol 365-366 ◽  
pp. 1070-1073 ◽  
Author(s):  
Chia Chang Lin ◽  
Ting Ting Li ◽  
Ching Wen Lou ◽  
Jan Yi Lin ◽  
Jia Horng Lin
Keyword(s):  
Performance Improvement ◽  
Cost Reduction ◽  
Body Armor ◽  
Packaging Materials ◽  
Puncture Resistance ◽  
Fabric Reinforcement ◽  
Number Of Layers ◽  
Layer Composite ◽  
Puncture Force ◽  
And Performance

The dynamic puncture resistance of multi-layer integrated composite which was comprised of glass fabric reinforcement or Kevlar fabric reinforcement and nonwovens were discussed as related to recycled Kevlar fibers amount, number of layer and K-ply position for purpose of cost reduction and performance improvement. The result shows that, 20 wt% Kevlar fibers contained in nonwovens have the optimum puncture resistance. And the dynamic puncture force increases linearly with number of layers, and also improves proportionally as increasing number of K-ply. The resultant multi-layer composite is expected to be used as body armor interlayer and packaging materials.

scholarly journals A Bio-inspired trajectory planning method for robotic manipulators based on improved bacteria foraging optimization algorithm and tau theory

2021 ◽  
Vol 19 (1) ◽  
pp. 643-662
Author(s):  
Zhiqiang Wang ◽  
◽  
Jinzhu Peng ◽  
Shuai Ding
Keyword(s):  
Trajectory Planning ◽  
Optimization Algorithm ◽  
Robotic Manipulators ◽  
Planning Method ◽  
Robotic Systems ◽  
Control Points ◽  
Interpolation Algorithm ◽  
Tau Theory ◽  
Small Set ◽  
Bacteria Foraging Optimization Algorithm

<abstract><p>In this paper, a novel bio-inspired trajectory planning method is proposed for robotic systems based on an improved bacteria foraging optimization algorithm (IBFOA) and an improved intrinsic Tau jerk (named Tau-J*) guidance strategy. Besides, the adaptive factor and elite-preservation strategy are employed to facilitate the IBFOA, and an improved Tau-J* with higher-order of intrinsic guidance movement is used to avoid the nonzero initial and final jerk, so as to overcome the computational burden and unsmooth trajectory problems existing in the optimization algorithm and traditional interpolation algorithm. The IBFOA is utilized to determine a small set of optimal control points, and Tau-J* is then invoked to generate smooth trajectories between the control points. Finally, the results of simulation tests demonstrate the eminent stability, optimality, and rapidity capability of the proposed bio-inspired trajectory planning method.</p></abstract>

Analysis of Varying Natural Frequencies and Damping Ratios of a Sample Parallel Manipulator Throughout its Workspace Using Linearized Equations of Motion

2001 ◽  
Author(s):  
Kris Kozak ◽  
Imme Ebert-Uphoff ◽  
William Singhose
Keyword(s):  
Degrees Of Freedom ◽  
Natural Frequencies ◽  
Dynamic Properties ◽  
Equations Of Motion ◽  
Parallel Architecture ◽  
Robotic Manipulators ◽  
Parallel Manipulators ◽  
Dynamic Equations ◽  
Extreme Variation

Abstract This article investigates the dynamic properties of robotic manipulators of parallel architecture. In particular, the dependency of the dynamic equations on the manipulator’s configuration within the workspace is analyzed. The proposed approach is to linearize the dynamic equations locally throughout the workspace and to plot the corresponding natural frequencies and damping ratios. While the results are only applicable for small velocities of the manipulator, they present a first step towards the classification of the nonlinear dynamics of parallel manipulators. The method is applied to a sample manipulator with two degrees-of-freedom. The corresponding numerical results demonstrate the extreme variation of its natural frequencies and damping ratios throughout the workspace.

Optimal trajectory planning and sliding mode control for robots using evolution strategy

Robotica ◽  
2000 ◽  
Vol 18 (4) ◽  
pp. 423-428 ◽  
Author(s):  
Young-Kiu Choi ◽  
Jin-Hyun Park ◽  
Hyun-Sik Kim ◽  
Jung Hwan Kim
Keyword(s):  
Trajectory Planning ◽  
Sliding Mode ◽  
Evolution Strategy ◽  
Minimum Time ◽  
Dynamic Equations ◽  
Dynamic Constraints ◽  
Planning And Control ◽  
Explicit Dynamic ◽  
And Control ◽  
Kinematic Approach

Although robots have some kinematic and dynamic constraints such as the limits of the position, velocity, acceleration, jerk, and torque, they should move as fast as possible to increase the productivity. Researches on the minimum-time trajectory planning and control based on the dynamic constraints assume the availability of full dynamics of robots. However, the dynamic equation of robot may not often be exactly known. In this case, the kinematic approach for the minimum-time trajectory planning is more meaningful. We also have to construct a controller to track precisely the minimum-time trajectory. But, finding a proper controller is also difficult if we do not know the explicit dynamic equations of a robot.This paper describes an optimization of trajectory planning based on a kinematic approach using the evolution strategy (ES), as well as an optimization of a sliding mode tracking controller using ES for a robot without dynamic equations.

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