OPTIMAL TRAJECTORY PLANNING WITH MAXIMUM LOAD CARRYING CAPACITY FOR CABLE SUSPENDED ROBOTS

被引：0
作者：
Korayem, Moharam Habibnejad [1 ]
Bamdad, Mahdi [2 ]
Bayat, Sharareh [3 ]
机构：
[1] Iran Univ Sci & Technol, Robot Res Lab, Tehran, Iran
[2] Semnan Univ, Dept Mech Engn, Semnan, Iran
[3] Islamic Azad Univ, Robot Res Lab, Tehran, Iran
来源：
2009 6TH INTERNATIONAL SYMPOSIUM ON MECHATRONICS AND ITS APPLICATIONS (ISMA) | 2009年
关键词：
MANIPULATORS;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, determination of the maximum-payload trajectory of cable-based parallel robot on the basis of the optimal control approach is presented. For capacity prediction, optimality conditions are obtained using the Pontryagin's minimum principle (PW) which leads to the bang-bang control in a two-point boundary value problem (TPBVP) solution.
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页码：394 / +
页数：2
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