JOINT SPACE KINEMATIC OPTIMIZATION OF THE DUAL-ARM CAM-LOCK ROBOT

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RASHIDNEJHAD SAJAD; GHAEMI OSGOUIE KAMBIZ; MEGHDARI ALI

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Journal: Modares Mechanical Engineering Year:2015 | Volume:14 | Issue:11 Page(s): 127-136

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Title

JOINT SPACE KINEMATIC OPTIMIZATION OF THE DUAL-ARM CAM-LOCK ROBOT

Author(s)

RASHIDNEJHAD SAJAD | GHAEMI OSGOUIE KAMBIZ | MEGHDARI ALI | Issue Writer Certificate

Keywords

DUAL-ARM CAM-LOCK ROBOTQ2

KINEMATIC OPTIMIZATIONQ2

REDUNDANCYQ2

PONTRYAGIN’S MINIMUM PRINCIPLESQ2

Abstract

Kinematic trajectory optimization of the dual-arm cam-lock parallel robot in the different lock configuration has been done in this paper. A different path has been considered for each of lock configuration. The optimal trajectory of each joint has been calculated by minimizing an objective function in whole trajectory. According to the number of REDUNDANCY in the different configurations, an initial guess of the variables have been considered. Then the initial guesses have been modified and optimum results have been obtained by using PONTRYAGIN’S MINIMUM PRINCIPLES and determining the governing initial condition on the system. According to the optimal joint variable, optimal trajectory has been obtained for each of the joints. In all of the configurations, optimal performance index has been achieved. Also the direct kinematic equations have been considered as the constraints of the system.

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APA: Copy

RASHIDNEJHAD, SAJAD, GHAEMI OSGOUIE, KAMBIZ, & MEGHDARI, ALI. (2015). JOINT SPACE KINEMATIC OPTIMIZATION OF THE DUAL-ARM CAM-LOCK ROBOT. MODARES MECHANICAL ENGINEERING, 14(11), 127-136. SID. https://sid.ir/paper/179517/en

Vancouver: Copy

RASHIDNEJHAD SAJAD, GHAEMI OSGOUIE KAMBIZ, MEGHDARI ALI. JOINT SPACE KINEMATIC OPTIMIZATION OF THE DUAL-ARM CAM-LOCK ROBOT. MODARES MECHANICAL ENGINEERING[Internet]. 2015;14(11):127-136. Available from: https://sid.ir/paper/179517/en

IEEE: Copy

SAJAD RASHIDNEJHAD, KAMBIZ GHAEMI OSGOUIE, and ALI MEGHDARI, “JOINT SPACE KINEMATIC OPTIMIZATION OF THE DUAL-ARM CAM-LOCK ROBOT,” MODARES MECHANICAL ENGINEERING, vol. 14, no. 11, pp. 127–136, 2015, [Online]. Available: https://sid.ir/paper/179517/en

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