Time optimal control of planar cable-suspended robot along specified path
Publish place: 16th Annual Conference on Mechanical Engineering
Publish Year: 1387
Type: Conference paper
Language: English
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Document National Code:
ISME16_885
Index date: 11 November 2007
Time optimal control of planar cable-suspended robot along specified path abstract
This paper addresses time optimal control for planar cable suspended robots. The equations of motion are obtained versus path parameter and its derivatives. Then, these equations are reduced to a set of second order differential equations in the path parameter. The bounds on the cable tensions are transformed to the bounds on the acceleration along the path. By assuming that the control is bang-bang in the acceleration we
obtain switching point in the s-s∙2 plane. Then the cable tensions are obtained versus path parameter and subsequently versus time.
Time optimal control of planar cable-suspended robot along specified path Keywords:
Time optimal control of planar cable-suspended robot along specified path authors
Hamid Reza Fahham
PhD student, Shiraz University
Mehrdad Farid
Department of Mechanical Engineering, Shiraz University