Approximate minimum-time trajectories for two-link flexible manipulators
The method of recursive quadratic programming has been used to generate approximate minimum-time tip trajectories for two-link semi-rigid and flexible manipulator movements in the horizontal plane. The manipulator is modeled with an efficient finite-element scheme for an n-link, m-joint system with bending only in the horizontal-plane. Constraints on the trajectory include boundary conditions on position and energy for a rest-to-rest maneuver, straight-line tracking between boundary positions, and motor torque limits. Trajectory comparisons utilize a change in the link stiffness to compare a semi-rigid configuration to a flexible one. The level of bending flexibility necessary to excite significant modal behavior is demonstrated. Applied torques for minimum-time maneuvers are shown to be very similar between configurations and retain much of the qualitative character of rigid-body slewing motion. 13 refs., 8 figs., 1 tab.
- Research Organization:
- Sandia National Labs., Albuquerque, NM (USA)
- Sponsoring Organization:
- DOE/DP
- DOE Contract Number:
- AC04-76DP00789
- OSTI ID:
- 6909456
- Report Number(s):
- SAND-89-1997C; CONF-9005135--3; ON: DE90009728
- Country of Publication:
- United States
- Language:
- English
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Related Subjects
420203* -- Engineering-- Handling Equipment & Procedures
99 GENERAL AND MISCELLANEOUS
990200 -- Mathematics & Computers
ACCURACY
ACTUATORS
BENDING
BOUNDARY CONDITIONS
COMPUTERIZED CONTROL SYSTEMS
CONTROL
CONTROL SYSTEMS
DIFFERENTIAL EQUATIONS
DYNAMICS
ELASTICITY
ELECTRONIC CIRCUITS
EQUATIONS
EQUATIONS OF MOTION
EQUIPMENT
FINITE ELEMENT METHOD
FLEXIBILITY
FUNCTIONS
GEOMETRY
HAMILTONIANS
LABORATORY EQUIPMENT
MAN-MACHINE SYSTEMS
MANIPULATORS
MATERIALS HANDLING
MATERIALS HANDLING EQUIPMENT
MATHEMATICAL MODELS
MATHEMATICAL OPERATORS
MATHEMATICS
MECHANICAL PROPERTIES
MECHANICS
NUMERICAL SOLUTION
OPTIMIZATION
PARTIAL DIFFERENTIAL EQUATIONS
PERTURBATION THEORY
PRODUCTIVITY
QUANTUM OPERATORS
REMOTE CONTROL
REMOTE HANDLING EQUIPMENT
RESPONSE FUNCTIONS
STRUCTURAL MODELS
SWITCHING CIRCUITS
TENSILE PROPERTIES
TORQUE
TRAJECTORIES
VARIATIONS