scholarly journals Optimal Trajectory Generation of Parallel Manipulator

2021 ◽  
Author(s):  
Chandan Choubey ◽  
Jyoti Ohri
Keyword(s):  
Parallel Manipulator ◽  
Optimal Trajectory ◽  
Tracking Error ◽  
Trajectory Generation ◽  
Gray Wolf ◽  
Continuous Path

In this paper we have designed an optimal trajectory generation (OTG) method to generate easy and errortless continuous path motion with quick converging by using Gray Wolf Optimization (GWO) method. This OTG method finds the trajectory path with minimum tracking-error, combined speed, joint increasing speed wrinkle as well as joint lurching move to follow a smooth along with error-free continuous path.

Optimal Trajectory Generation for a 6-DOF Parallel Manipulator Using Grey Wolf Optimization Algorithm

Robotica ◽  
2020 ◽  
pp. 1-17
Author(s):  
Chandan Choubey ◽  
Jyoti Ohri
Keyword(s):  
Optimization Algorithm ◽  
Parallel Manipulator ◽  
Optimal Trajectory ◽  
Tracking Error ◽  
Trajectory Generation ◽  
Continuous Path ◽  
Grey Wolf ◽  
Grey Wolf Optimization

SUMMARY In this paper we designed an optimal trajectory generation (OTG) method to generate easy and errorless continuous path motion with quick converging using Grey Wolf Optimization (GWO) method. The proposed OTG method finds the trajectory path with minimum tracking error, combined speed, joint increasing speed wrinkle, as well as joint lurching move to follow an error-free smooth continuous path.

Optimal Trajectory Generation Using an Improved Probabilistic Road Map Algorithm for Autonomous Driving

2021 ◽  
Author(s):  
Stefano Feraco ◽  
Angelo Bonfitto ◽  
Irfan Khan ◽  
Nicola Amati ◽  
Andrea Tonoli
Keyword(s):  
Optimal Trajectory ◽  
Trajectory Generation ◽  
Autonomous Driving ◽  
Map Algorithm ◽  
Road Map

Integrated optimal design of a high-speed planar parallel manipulator

2018 ◽  
Vol 233 (9) ◽  
pp. 2976-2990 ◽  
Author(s):  
Zhengsheng Chen ◽  
Minxiu Kong
Keyword(s):  
Optimal Design ◽  
Parallel Manipulator ◽  
High Speed ◽  
Design Method ◽  
Tracking Error ◽  
Dimensional Synthesis ◽  
Tracking Accuracy ◽  
Nsga Ii ◽  
Parameters Tuning ◽  
Planar Parallel Manipulator

To obtain excellent comprehensive performances of the planar parallel manipulator for the high-speed application, an integrated optimal design method, which integrated dimensional synthesis, motors/reducers selection, and control parameters tuning, is proposed, and the 3RRR parallel manipulator was taken as the example. The kinematic and dynamic performances of condition number, velocity index, acceleration capability, and low-order frequency are taken into accounts for the dimensional synthesis. Then, to match motors/reducers parameters and keep an economical cost, the constraint equations and the parameters library are built, and the cost is chosen as one of the optimization objectives. Also, to get high tracking accuracy, the dynamic forward plus proportional–derivative control scheme is introduced, and the tracking error is chosen as one of the optimization objectives. Hence, the optimization model including dimensional synthesis, motors/reducers selection and controller parameters tuning is established, which is solved by the genetic algorithm II (NSGA-II). The result shows that comprehensive performances can be effectively promoted through the proposed integrated optimal design, and the prototype was constructed according to the Pareto-optimal front.

scholarly journals Optimal Trajectory Generation for a Space Robot Manipulator by DP

1993 ◽  
Vol 29 (10) ◽  
pp. 1184-1190 ◽  
Author(s):  
Isao YAMAGUCHI ◽  
Takashi KIDA ◽  
Seiya UENO ◽  
Masaki TANAKA
Keyword(s):  
Optimal Trajectory ◽  
Robot Manipulator ◽  
Trajectory Generation ◽  
Space Robot

scholarly journals Deterministic Approaches to Transient Trajectory Generation

2020 ◽  
Author(s):  
Matthew A. Cooper
Keyword(s):  
Linear Time ◽  
Tracking Error ◽  
Trajectory Generation ◽  
Deterministic Approach ◽  
Van Der Pol ◽  
Linear Time Invariant ◽  
Tuning Method ◽  
Exponential Weighting ◽  
Strongly Nonlinear System ◽  
Optimal Linear

This chapter studies a deterministic approach to transient trajectory generation and control as applied to the forced Van der Pol oscillatory system. This type of system tends towards a strongly nonlinear system, which can be considered chaotic. A classical tuning method, targeted exponential weighting, and isolated trajectory fractionalization trajectory generation methods are examined. Illustrating the given deterministic approach via the Van der Pol system highlights the potentially iterative nature of deterministic methods, and that traditional optimal linear time-invariant control techniques are unable to perform as desired whereas even an idealized nonlinear feedforward control significantly outperforms at the steady-state. It will be shown that utilizing a-priori knowledge of the system dynamics will enable the isolated trajectory fractionalization method to minimize the nonlinear transient effects due to miss-modeled or unmodeled plant dynamics, and that this benefit can be coupled with the targeted exponential weighting approach for greatly decreased trajectory tracking error on the order of a 92% reduction of the objective cost function in the presented case study based on the forced Van der Pol system.

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