Optimal Dynamic Manipulation Workspace of a Single Link Robot Manipulator

Document Type : Mechanics article

Authors

1 Robotics and control Lab, Faculty of Mechanical engineering, Semnan University, Semnan, Iran.

2 Faculty of Mechanical engineering, Amir Kabir University, Tehran, Iran.

Abstract

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.

Keywords

Main Subjects

References

 
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Journal of Modeling in Engineering
Volume 16, Issue 54
October 2018
Pages 429-441

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History

  • Receive Date: 21 February 2017
  • Revise Date: 30 September 2017
  • Accept Date: 09 December 2017

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