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Оптимальное формирование траекторий движения манипуляционных роботов с использованием динамического программирования
English
Optimization of trajectories robotic manipulator using dynamic programming
Abstract. One approach to solving the problem of optimal control of the movement of the handling robot for a given geometric path involves partitioning the problem into two stages. The first is carried out real-time formation of optimal trajectories specified criteria for each degree of mobility as a function of time, provide a working body of the manipulator motion for a given geometric path with optimum speed. The second stage takes place in real time tracking formed in the first phase trajectories. The following describes the method of formation of the optimal trajectories with dependent constraints manipulator state in the emerging forces and moments, and depending on the configuration of the manipulator restrictions on the movement speed in degrees of mobility. In contrast to the known algorithms proposed approach does not require the submission of a given geometric path in parametric form, and allows her to specify the sequence of points.
Keywords: trajectory; manipulator; movement
Як цитувати
Аnnotation: One approach to solving the problem of optimal control of the movement of the handling robot for a given geometric path involves partitioning the problem into two stages. The first is carried out real-time formation of optimal trajectories specified criteria for each degree of mobility as a function of time, provide a working body of the manipulator motion for a given geometric path with optimum speed. The second stage takes place in real time tracking formed in the first phase trajectories. The following describes the method of formation of the optimal trajectories with dependent constraints manipulator state in the emerging forces and moments, and depending on the configuration of the manipulator restrictions on the movement speed in degrees of mobility. In contrast to the known algorithms proposed approach does not require the submission of a given geometric path in parametric form, and allows her to specify the sequence of points. Keywords: trajectory, manipulator , movement.
@article{internauka1428,
author = {Чудінов, Владислав Олександрович and Бруданов, Антон Михайлович},
title = {Оптимальное формирование траекторий движения манипуляционных роботов с использованием динамического программирования},
journal = {Міжнародний науковий журнал «Інтернаука»},
year = {2016},
number = {7},
url = {https://www.inter-nauka.com/issues/2016/7/1428}
}
TY - JOUR AU - Чудінов, Владислав Олександрович AU - Бруданов, Антон Михайлович TI - Оптимальное формирование траекторий движения манипуляционных роботов с использованием динамического программирования JO - Міжнародний науковий журнал «Інтернаука» PY - 2016 IS - 7 SN - 2520-2057 UR - https://www.inter-nauka.com/issues/2016/7/1428 LA - ru ER -