Optimal trajectories for flexible-link manipulator slewing using recursive quadratic programming: Experimental verification

Conference · Thu Sep 01 00:00:00 EDT 1994

OSTI ID:10183145

Parker, G G; Eisler, G R; Feddema, J T

Procedures for trajectory planning and control of flexible link robots are becoming increasingly important to satisfy performance requirements of hazardous waste removal efforts. It has been shown that utilizing link flexibility in designing open loop joint commands can result in improved performance as opposed to damping vibration throughout a trajectory. The efficient use of link compliance is exploited in this work. Specifically, experimental verification of minimum time, straight line tracking using a two-link planar flexible robot is presented. A numerical optimization process, using an experimentally verified modal model, is used for obtaining minimum time joint torque and angle histories. The optimal joint states are used as commands to the proportional-derivative servo actuated joints. These commands are precompensated for the nonnegligible joint servo actuator dynamics. Using the precompensated joint commands, the optimal joint angles are tracked with such fidelity that the tip tracking error is less than 2.5 cm.

• Research Organization: Sandia National Labs., Albuquerque, NM (United States)
• Sponsoring Organization: USDOE, Washington, DC (United States)
• DOE Contract Number: AC04-94AL85000
• OSTI ID: 10183145
• Report Number(s): SAND-94-2072C; CONF-940859-25; ON: DE94018741; TRN: 94:008390
• Resource Relation: Conference: 5. international symposium on robotics and manufacturing,Maui, HI (United States),14-18 Aug 1994; Other Information: PBD: [1994]
• Country of Publication: United States
• Language: English

Related Subjects

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATION
12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE WASTES FROM NUCLEAR FACILITIES
99 GENERAL AND MISCELLANEOUS//MATHEMATICS, COMPUTING, AND INFORMATION SCIENCE
REMOTE HANDLING EQUIPMENT
COMPUTERIZED CONTROL SYSTEMS
ROBOTS
ALGORITHMS
HAZARDOUS MATERIALS
REMOTE HANDLING
RADIOACTIVE WASTES
CLEANING
320303
052001
990200
EQUIPMENT AND PROCESSES
WASTE PROCESSING
MATHEMATICS AND COMPUTERS