فضای کاری بهینه جابجایی دینامیکی برای ربات بازویی تک لینکی

نوع مقاله: مقاله مکانیک

نویسندگان

1 آزمایشگاه رباتیک و کنترل، دانشکده مهندسی مکانیک، دانشگاه سمنان، سمنان، ایران

2 دانشکده مهندسی مکانیک، دانشگاه سمنان، سمنان، ایران

3 دانشکده مهندسی مکانیک، دانشگاه امیر کبیر

چکیده

در جابجایی دینامیکی اجسام، با پرتاب جسم توسط ربات می‌توان جسم مورد نظر را در نقاطی بسیار دورتر از فضای کاری قابل دسترس ربات قرار داد. در این مقاله مفهوم فضای کاری قابل پرتاب یا فضای کاری جابجایی دینامیکی به صورت مجموعه نقاطی از فضا که ربات قادر به پرتاب جسم در آن‌ها می‌باشد، تعریف می‌گردد. حال جهت به دست آوردن ماکزیمم فضای کاری قابل پرتاب یعنی دورترین نقاطی که ربات می‌تواند جسم مورد نظر را در آن‌ها قرار دهد، لازم است تا در ابتدا مسأله پرتاب بهینه حل شود. مسأله پرتاب بهینه در این مقاله به صورت یک مسأله کنترل بهینه تعریف می‌شود که برای حل آن روش غیر مستقیم براساس قضیه اساسی حساب تغییرات به کار گرفته می شود. با اعمال معادله پرتاب به صورت یک شرط مرزی متحرک در مسأله، شرایط بهینگی استخراج شده به صورت یک مسأله مقدار مرزی دو نقطه‌ای در خواهد آمد که با حل آن‌ پاسخ پرتاب بهینه به دست خواهد آمد. نهایتاً براساس مسأله پرتاب بهینه، یک الگوریتم جهت محاسبه ماکزیمم فضای کاری قابل پرتاب ارائه می‌شود. نتایج شبیه‌سازی برای یک ربات تک لینکی ارائه می‌شود تا مفاهیم معرفی شده و کارایی روش پیشنهادی در حل مسأله بهینه نشان داده شود.

کلیدواژه‌ها

موضوعات


عنوان مقاله [English]

Optimal Dynamic Manipulation Workspace of a Single Link Robot Manipulator

نویسندگان [English]

  • Amin Nikoobin 1
  • Zahra Farashi 1
  • Mohsen Asgari 2
  • Mojtaba Moradi 3
1 Robotics and control Lab, Faculty of Mechanical engineering, Semnan University, Semnan, Iran.
2 Robotics and control Lab, Faculty of Mechanical engineering, Semnan University, Semnan, Iran.
3 Faculty of Mechanical engineering, Amir Kabir University, Tehran, Iran.
چکیده [English]

In the dynamic manipulation of objects, the aim is to throw an object by a robot to the desired target even outside the reachable workspace. In this paper, the concept of the throw-able workspace or dynamic manipulation workspace is defined as a set of points which the robot is able to throw the object at them. Thus, in order to obtain the maximum dynamic manipulation workspace which means the farthest points that object can be manipulated, it is necessary to solve the optimal throwing problem. To this end, the optimal throwing problem is defined as the optimal control problem solved using the indirect solution method based on the fundamental theorem of the calculus of variations. By applying the throwing equation as a moving boundary condition, the derived optimality conditions construct a two-point boundary value problem which its solution results in the optimal throwing. Finally, an algorithm is presented to calculate the maximum dynamic manipulation workspace. Then, simulation results are presented for a single link robot in order to evaluate the defined concept as well as the effectiveness of the proposed method for problem-solving.

کلیدواژه‌ها [English]

  • Dynamic manipulation
  • Workspace
  • Single link robot
  • Optimal control
  • Indirect method
 

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