tailieunhanh - Advanced Strategies For Robot Manipulators Part 2

Tham khảo tài liệu 'advanced strategies for robot manipulators part 2', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | The Comparative Assessment of Modelling and Control of Mechanical Manipulator 21 Fig. 12. Angular positions of joints Fig. 13. Angular velocities of joints 4 2 0 -2 -4 -6-------------1-----------1----------- -----------1----------- 0 1 2 Time s Fig. 14. Torques of motors 11 case 1 -60------------1-----------1-----------1----------1----------- 0 1 2 Time s 22 Advanced Strategies for Robot Manipulators Fig. 15. End effector trajectory in XY plane Maximum payload determination In this case the maximum payload of flexible mobile manipulator will be calculated and corresponding optimal trajectory at point-to-point motion will be illustrated for different values of W. Payload paths for these cases are shown in Fig. 16. Fig. 17 shows the robot configuration for the first and last cases. Also he computed torques for these cases are plotted in . As it can be seen increasing W causes to increase oscillatory behavior of the systems that results to reduce the maximum dynamic payload as shown in Table 3. Case 1 2 3 4 W 1 400 600 800 ftpmax Table 3. The values of W and corresponding calculated maximum payloads Fig. 16. End effector trajectory in XY plane The Comparative Assessment of Modelling and Control of Mechanical Manipulator 23 -50 x m x m Fig. 17. Robot Configuration 0 1 2 Time s Fig. 18. Torques of motors 40 30 20 10 0 -10 -20 -30 case 4 0 1 2 Time s 4. Conclusion In this chapter modelling and control of mechanical manipulator had been studied. First kinematic and dynamic modelling of flexible link flexible joint and mobile manipulators have been considered. Then optimal control of a flexible mobile manipulator in point-to-point motion had been formulated based on the open-loop optimal control approach. The first objective of the chapter is to state the dynamic optimization problem under a quite generalized form in order to be applied to a variety of situations with any guess objective functions