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Near minimum-time trajectory for two coordinated manipulators

Published online by Cambridge University Press:  09 March 2009

K. Y. Lee  and
M. W. M. G. Dissanayake
K. Y. Lee
Affiliation:
Mechanical & Mechatronic Engineering University of Sydney,Sydney, NSW 2006 (Australia)
M. W. M. G. Dissanayake
Affiliation:
Mechanical & Mechatronic Engineering University of Sydney,Sydney, NSW 2006 (Australia)
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Summary

This paper presents a method to obtain near minimum-time trajectories for two coordinated manipulators handling a rigid object. A piece-wise constant function is used to approximate the second derivatives of the generalised coordinates of the manipulators of the system. This transforms the time optimal control problem into a non-linearly constrained optimisation problem. The transformed problem is then solved by the sequential quadratic programming technique. A numerical example involving two SCARA type manipulators handling a long beam is used to illustrate the proposed scheme.

Keywords

TrajectoriesOptimal controlSCARA manipulatorsMinimum-timeCoordinated manipulators
Type
Articles
Information
Robotica , Volume 13 , Issue 2 , March 1995 , pp. 177 - 184
Copyright
Copyright © Cambridge University Press 1995

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