PARAMETRIC OPTIMIZATION OF THE TRANSPORT OPERATIONS OF A TWO-LINK MANIPULATOR

摘要

We study the problem of optimization of motion of a two-link manipulator, which performs transport operations under the action of controls (moments of forces in the hinges). The initial and the final position of the gripping device of the manipulator and the time of the operation are regarded as known. The quality of motion of the manipulator is estimated by a quadratic functional. Possible configurations of the manipulator at the beginning and at the end of the operation are taken into account. We propose an algorithm for the construction of suboptimal solutions of the problem based on the parametrization of the angular coordinates of the manipulator by the sum of a cubic polynomial and a finite trigonometric series and on the use of the methods of inverse problems of dynamics and numerical procedures of nonlinear programming. The influence of configurations of the manipulator and the parameters of the trigonometric series on the characteristics of the suboptimal process is analyzed.