MINIMUM TIME AND MINIMUM SWITCH PATH PLANNING FOR A HYPER-REDUNDANT MANIPULATOR WITH LOCKABLE JOINTS

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TAHERIFAR A.; SALARIEH H.; ALASTY A.

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Journal: Modares Mechanical Engineering Year:2012 | Volume:12 | Issue:1 Page(s): 50-65

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Information Journal Paper

Title

MINIMUM TIME AND MINIMUM SWITCH PATH PLANNING FOR A HYPER-REDUNDANT MANIPULATOR WITH LOCKABLE JOINTS

Author(s)

TAHERIFAR A. | SALARIEH H. | ALASTY A. | Issue Writer Certificate

Keywords

PATH PLANNINGQ2

OPTIMIZATIONQ2

REDUNDANT MANIPULATORSQ2

PARTICLE SWARM OPTIMIZATIONQ2

Abstract

In this paper, the kinematic PATH PLANNING of a special hyper-redundant manipulator with lockable joints is studied. In this manipulator the extra cables are replaced by a locking system to reduce weight of the structure and the number of actuators. In this research, the particle swarm OPTIMIZATION is used for PATH PLANNING. In addition, the kinematic constraints such as joint limits are considered. In the first part of this paper, the minimum switch PATH PLANNING is solved. This kind of PATH PLANNING will decrease the vibration and energy consumption and increase the accuracy of manipulator. To validate the result, an innovative test is designed. According to the test results, the performance of the proposed method is shown. In the second part of the paper, the minimum time trajectory planning is studied based on the bang-bang theory. The inverse kinematic of manipulator is calculated such that the sum of legs length changes is decreased. Finally, the result of trajectory planning obtained from particle swarm OPTIMIZATION are compared to simulated annealing OPTIMIZATION results to confirm the performance and correctness of results.

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APA: Copy

TAHERIFAR, A., SALARIEH, H., & ALASTY, A.. (2012). MINIMUM TIME AND MINIMUM SWITCH PATH PLANNING FOR A HYPER-REDUNDANT MANIPULATOR WITH LOCKABLE JOINTS. MODARES MECHANICAL ENGINEERING, 12(1), 50-65. SID. https://sid.ir/paper/179553/en

Vancouver: Copy

TAHERIFAR A., SALARIEH H., ALASTY A.. MINIMUM TIME AND MINIMUM SWITCH PATH PLANNING FOR A HYPER-REDUNDANT MANIPULATOR WITH LOCKABLE JOINTS. MODARES MECHANICAL ENGINEERING[Internet]. 2012;12(1):50-65. Available from: https://sid.ir/paper/179553/en

IEEE: Copy

A. TAHERIFAR, H. SALARIEH, and A. ALASTY, “MINIMUM TIME AND MINIMUM SWITCH PATH PLANNING FOR A HYPER-REDUNDANT MANIPULATOR WITH LOCKABLE JOINTS,” MODARES MECHANICAL ENGINEERING, vol. 12, no. 1, pp. 50–65, 2012, [Online]. Available: https://sid.ir/paper/179553/en

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