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Mathematical modeling and trajectory planning of mobile manipulators with flexible links and joints

机译：具有灵活链接和关节的移动机械手的数学建模和轨迹规划

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摘要

This paper is concerned with mathematical modeling and optimal motion designing of flexible mobile manipulators. The system is composed of a multiple flexible links and flexible revolute joints manipulator mounted on a mobile platform. First, analyzing on kinematics and dynamics of the model is carried out then; open-loop optimal control approach is presented for optimal motion designing of the system. The problem is known to be complex since combined motion of the base and manipulator, non-holonomic constraint of the base and highly non-linear and complicated dynamic equations as a result of the flexible nature of both links and joints are taken into account. In the proposed method, the generalized coordinates and additional kinematic constraints are selected in such a way that the base motion coordination along the predefined path is guaranteed while the optimal motion trajectory of the end-effector is generated. This method by using Pontryagin's minimum principle and deriving the optimality conditions converts the optimal control problem into a two point boundary value problem. A comparative assessment of the dynamic model is validated through computer simulations, and then additional simulations are done for trajectory planning of a two-link flexible mobile manipulator to demonstrate effectiveness and capability of the proposed approach.
机译：本文涉及柔性移动机械手的数学建模和最佳运动设计。该系统由安装在移动平台上的多个柔性连杆和柔性旋转关节机械手组成。首先，对模型的运动学和动力学进行分析。提出了一种用于系统最优运动设计的开环最优控制方法。已知该问题是复杂的，因为考虑了基座和操纵器的组合运动，基座的非完整约束以及由于连杆和接头的柔性特性而导致的高度非线性和复杂的动力学方程。在所提出的方法中，以这样的方式选择广义坐标和附加运动学约束，即，在产生末端执行器的最佳运动轨迹的同时，保证了沿着预定路径的基本运动协调。该方法通过使用Pontryagin的最小原理并推导最优性条件，将最优控制问题转换为两点边值问题。通过计算机仿真验证了对动力学模型的比较评估，然后对两连杆柔性移动机械手的轨迹规划进行了附加仿真，以证明所提出方法的有效性和能力。

著录项

  • 来源
    《Applied Mathematical Modelling》 |2012年第7期|p.3229-3244|共16页
  • 作者

    Moharam Habibnejad Korayem; H.N. Rahimi; A. Nikoobin;

  • 作者单位

    Robotic Research Lab, Center of Excellence in Experimental Solid Mechanics and Dynamics. School of Mechanical Engineering, Iran University of Science and Technology, Tehran, Iran;

    Robotic Research Lab, Center of Excellence in Experimental Solid Mechanics and Dynamics. School of Mechanical Engineering, Iran University of Science and Technology, Tehran, Iran;

    Department of Mechanical Engineering, Islamic Azad University, Semnan Branch, Semnan, Iran;

  • 收录信息 美国《科学引文索引》(SCI);美国《工程索引》(EI);
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

    mobile manipulator; flexible link; flexible joint; mathematical modeling; trajectory planning;

    机译：移动机械手;灵活的链接;柔性接头数学建模;轨迹规划;

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