Robot Control Synthesis in Conjunction with Moving Workpieces
Many applications of manipulators are connected with work on conveyors and it is necessary to make control synthesis of point-to-point motion in conjunction with moving workpieces. The velocity of the manipulator end-effector should be equal to the conveyor’s velocity at the operation point and this fact involves a new shooting technique for exact solution of the corresponding two-point boundary-value problems. Besides the proposed off-line control synthesis, a final adjustment of control parameters can be performed on the manipulator itself as in a self-learning adaptive procedure. The method is verified on a dynamic model of a two-degrees of freedom manipulator using D.C. motors.
Unable to display preview. Download preview PDF.
- 1.Kahn, M.E., and Roth, B., The Near Minimum-Time Control of Open-Loop Articulated Kinematic Chains, Journal of Dynamic Systems, Measurement and Control, ASME Trans.,Vol. 93, no 3, Sept.1971, pp. 164–171Google Scholar
- 2.Kim, Byung Kook and Kang G. Shin, Suboptimal Control of Industrial Manipulators with a Weighed Minimum Criterion, Proc. 22nd IEEE CDC, San Antonio, TX., Dec. 1983, pp. 1199–1204Google Scholar
- 3.Marinov, P., and Kiriazov, P., Synthesis of Time-Optimal Control for Manipulator Dynamics, Teor. Appl. Mech., Publ. House Bulg. Acad. Sci., Year 15, 1, 1984, pp. 13–19Google Scholar
- 4.Kiriazov, P., and Marinov, P., A Method for Time-Optimal Control of Dynamically Constrained Manipulators, Prepr. of 5th CISMIFToMM Symposium on Theory and Practice of Robots and Manipulators, June 26–29, 1984, Udine, Italy, pp. 131–138Google Scholar
- 5.Marinov, P., and Kiriazov, P., A Direct Method for Optimal Control Synthesis of Manipulator Point-to-Point Motion. Prepr. of 9th World Congress IFAC. Vol. IX, Colloquia 14.2, 09.2. Budapest, Hungary, 2–6 July, 1984, pp. 219–222.Google Scholar