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A model-based trajectory planning approach for flexible-link mechanisms

机译:柔性连杆机构的基于模型的轨迹规划方法

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摘要

In this paper the problem of trajectory planning for flexible-links mechanisms is dealt with. The method proposed here is suitable for the determination of model-based optimal point-to-point trajectories with bounds on kinematic and dynamic characteristics of the mechanism. An open-loop optimal control strategy is applied to an accurate dynamic model of flexible multi-body planar mechanisms. The model, which has already benn fully validated through experimental tests, is based on finite element discretization and accounts for the main geometric and inertial nolinearities of the linkage. Exploiting an indirect or variational solution method, the necessary optimality conditions deriving from the Pontryagin's minimum principle are imposed, and lead to a differential Two-Point Boundary Value Problem (TPBVP); numerical solution of the latter is accomplished by means of collocation techniques. Considering a lightweight RR robot, simulation results are provided for rest-to-rest trajectories with bounded speed and bounded elastic deformation. However, the strategy under investigation has general validity and can be applied to other types of machanisms, as well as with different objective functions and boundary conditions.
机译:本文研究了柔性连杆机构的轨迹规划问题。此处提出的方法适用于确定基于模型的最佳点到点轨迹,该轨迹具有机构的运动学和动态特性的界限。开环最优控制策略被应用于柔性多体平面机构的精确动力学模型。该模型已经通过实验测试进行了充分验证,该模型基于有限元离散化,并说明了连杆的主要几何和惯性非线性。利用间接或变分求解方法,强加了庞特里亚金极小原理的必要最优性条件,并导致了差分两点边值问题(TPBVP);后者的数值解是通过搭配技术来完成的。考虑到轻量级的RR机器人,提供了具有有限速度和有限弹性变形的静止轨迹的仿真结果。然而,所研究的策略具有普遍的有效性,可以应用于其他类型的机制,以及具有不同的目标函数和边界条件。

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