TY - GEN
T1 - Optimal point-to-point motion planning of flexible parallel manipulator with adaptive Gauss pseudo-spectral method
AU - Kong, Minxiu
AU - Chen, Zhengsheng
AU - Ji, Chen
AU - Liu, Ming
PY - 2014
Y1 - 2014
N2 - Optimal point-to-point motion planning of flexible parallel manipulator was investigated in this paper. First, the dynamic model of a 3RRR planar parallel manipulator was derived through Kane equation and the improved curvature-based finite element (ICFE) method. Secondly, an optimal point-to-point motion planning problem was constructed with consideration of the flexible dynamic model. Then, an adaptive Gauss Pseudo-spectral Method (GPM) was proposed to transcribe the trajectory optimization problem into Nonlinear Programming (NLP) problem, and the SQP was adopted to solve the NLP problem. At last, the simulation was carried out on a 3RRR flexible parallel manipulator, the result showed residue vibration of the flexible links can be diminished and the predefined accuracy can be satisfied by adding collocation points or refining the mesh interval through the proposed adaptive algorithm.
AB - Optimal point-to-point motion planning of flexible parallel manipulator was investigated in this paper. First, the dynamic model of a 3RRR planar parallel manipulator was derived through Kane equation and the improved curvature-based finite element (ICFE) method. Secondly, an optimal point-to-point motion planning problem was constructed with consideration of the flexible dynamic model. Then, an adaptive Gauss Pseudo-spectral Method (GPM) was proposed to transcribe the trajectory optimization problem into Nonlinear Programming (NLP) problem, and the SQP was adopted to solve the NLP problem. At last, the simulation was carried out on a 3RRR flexible parallel manipulator, the result showed residue vibration of the flexible links can be diminished and the predefined accuracy can be satisfied by adding collocation points or refining the mesh interval through the proposed adaptive algorithm.
UR - https://www.scopus.com/pages/publications/84906707405
U2 - 10.1109/AIM.2014.6878186
DO - 10.1109/AIM.2014.6878186
M3 - 会议稿件
AN - SCOPUS:84906707405
SN - 9781479957361
T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
SP - 852
EP - 858
BT - AIM 2014 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2014
Y2 - 8 July 2014 through 11 July 2014
ER -