Using kinematic resolution, the optimal path planning for two redundant cooperative manipulators carrying a solid object on a desired trajectory is studied. The optimization problem is first solved with no constraint. Consequently, the nonlinear inequality constraints, which model obstacles, are added to the problem. The formulation has been derived using Pontryagin Minimum Principle and results in a Two Point Boundary Value Problem (TPBVP). The problem is solved for a cooperative manipulator system consisting of two 3-DOF serial robots jointly carrying an object and the results are compared with those obtained from a search algorithm. Defining the obstacles in workspace as functions of joint space coordinates, the inequality constrained optimization problem is solved for the cooperative manipulators.
Optimal Path Planning of Redundant Cooperative Robots Under Equality and Inequality Constraints
- Views Icon Views
- Share Icon Share
- Search Site
Hosseini, A, & Keshmiri, M. "Optimal Path Planning of Redundant Cooperative Robots Under Equality and Inequality Constraints." Proceedings of the ASME 2003 International Mechanical Engineering Congress and Exposition. Dynamic Systems and Control, Volumes 1 and 2. Washington, DC, USA. November 15–21, 2003. pp. 625-634. ASME. https://doi.org/10.1115/IMECE2003-42100
Download citation file: