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Trajectory Optimization of a Dual-arm Cam-lock Robot Considering Redundancy

Rashidnejhad, Sajad | 2014

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  1. Type of Document: M.Sc. Thesis
  2. Language: English
  3. Document No: 45852 (58)
  4. University: Sharif University of Technology, International Campus, Kish Island
  5. Department: Science and Engineering
  6. Advisor(s): Meghdari, A. (Ali); Ghaemi Osgouie, Kambiz
  7. Abstract:
  8. In the present work, trajectory optimization of the Dual-Arm Cam-Lock robot considering kinematic and dynamic redundancy is performed. First, the optimal control problem is solved only considering kinematic redundancy and then is solved considering dynamic redundancy. General form of the dynamic model for the system is developed using Lagrangian relations. Global optimization method is used for redundancy resolution problem. A performance index is defined based on the consumed kinetic energy and is minimized through a desired trajectory using the global optimization method. Formulations of optimal control problem are derived and initial boundary problem is changed to two point boundary value (TPBV) using Pontryagin’s minimum principle (PMP). Shooting method is employed to solve this multipoint boundary value problem. Considering kinematic redundancy, optimization is performed for all possible lock configurations in different desired paths. Then, optimal values of the joint trajectories, optimal kinematic performance index, and optimal configuration of the DACL in different paths are obtained. Also, optimization problem considering dynamic redundancy is performed for all lock configurations in one desired path and optimization results are achieved as optimal joint trajectories, optimal joint velocities, optimal dynamic performance index, and optimal configuration in all possible configurations. In another approach, a new objective function that optimizes time and jerk in the desired path is also introduced. B-spline method is used for trajectory planning of the No-Lock configuration in one of the desired paths and the results are compared to the results of the previous optimization method. Also this method has been done for a none-redundant 3-RUU parallel robot
  9. Keywords:
  10. Trajectory Optimization ; Optimal Control ; Dual Arm Cam-lock Robot ; Redundancy ; Pontryagin Minimum Principle

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