TY - JOUR
T1 - Time Optimal Trajectory Tracking of Redundant Planar Cable-Suspended Robots Considering Both Tension and Velocity Constraints
AU - Fahham, Hamid Reza
AU - Farid, Mehrdad
AU - Khooran, Moosa
N1 - Copyright:
Copyright 2011 Elsevier B.V., All rights reserved.
PY - 2011/1/1
Y1 - 2011/1/1
N2 - In this paper, time optimal trajectory tracking of redundant planar cable-suspended robots is investigated. The equations of motion of these cable robots are obtained as a system of second order differential equation in terms of path parameter s using the specified path. Besides, the bounds on the cable tensions and cable velocities are transformed into the bounds on the acceleration and velocity along the path. Assuming bang-bang control, the switching points in s 2 -s plane are obtained. Then the cable tensions are found in terms of path parameter and, subsequently, versus time. The proposed approach is validated and the effect of the number of superfluous cables on the value of minimum time is studied. The next notable challenges include time optimal path planning of cable-suspended robots. By developing a hybrid genetic algorithm and bang-bang control approach, the minimum motion time from initial state to final one and also the corresponding path can be found. The optimum path is the one that minimizes traveling time from initial state to final one, while not exceeding the cable tensions and cable velocities limits, without collision with any obstacles.
AB - In this paper, time optimal trajectory tracking of redundant planar cable-suspended robots is investigated. The equations of motion of these cable robots are obtained as a system of second order differential equation in terms of path parameter s using the specified path. Besides, the bounds on the cable tensions and cable velocities are transformed into the bounds on the acceleration and velocity along the path. Assuming bang-bang control, the switching points in s 2 -s plane are obtained. Then the cable tensions are found in terms of path parameter and, subsequently, versus time. The proposed approach is validated and the effect of the number of superfluous cables on the value of minimum time is studied. The next notable challenges include time optimal path planning of cable-suspended robots. By developing a hybrid genetic algorithm and bang-bang control approach, the minimum motion time from initial state to final one and also the corresponding path can be found. The optimum path is the one that minimizes traveling time from initial state to final one, while not exceeding the cable tensions and cable velocities limits, without collision with any obstacles.
KW - bang-bang control
KW - cable tension constraint
KW - cable-suspended robots
KW - time optimal trajectory
KW - velocity constraint
UR - http://www.scopus.com/inward/record.url?scp=78650741415&partnerID=8YFLogxK
U2 - 10.1115/1.4002712
DO - 10.1115/1.4002712
M3 - Article
AN - SCOPUS:78650741415
VL - 133
JO - Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME
JF - Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME
SN - 0022-0434
IS - 1
M1 - 011004
ER -