Optimal Splines for Rigid Motion Systems: A Convex Programming Framework

B. Demeulenaere; G. Pipeleers; J. De CaignyJ. SweversJ. De SchutterL. Vandenberghe

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Optimal Splines for Rigid Motion Systems: A Convex Programming Framework

机译：Optimal Splines for Rigid Motion Systems: A Convex Programming Framework

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This paper develops a general framework to synthesize optimal polynomial splines for rigid motion systems driven by cams or servomotors. This framework is based on numerical optimization, and has three main characteristics: (i) Spline knot locations are optimized through an indirect approach, based on providing a large number of fixed, uniformly distributed candidate knots; (ii) in order to efficiently solve the corresponding large-scale optimization problem to global optimality, only design objectives and constraints are allowed that result in convex programs; and (Hi) one-norm regularization is used as an effective tool for selecting the better (that is, having fewer active knots) solution if many equally optimal solutions exist. The framework is developed and validated based on a double-dwell benchmark problem for which an analytical solution exists.

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来源
《Journal of mechanical design》 |2009年第10期|101004-1-101004-11|共11页
作者
B. Demeulenaere; G. Pipeleers; J. De CaignyJ. SweversJ. De SchutterL. Vandenberghe;
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作者单位

Atlas Copco Airpower NV, Airtec Division;

Department of Mechanical Engineering, Katholieke Universiteit Leuven;

Department of Electrical Engineering, University of California Los Angeles;

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正文语种英语
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Optimal Splines for Rigid Motion Systems: A Convex Programming Framework

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