Optimal Dynamic Manipulation Workspace of a Single Link Robot Manipulator

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NIKOOBIN AMIN; Farashi Zahra; ASGARI MOHSEN; MORADI MOJTABA

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Journal: Modeling in Engineering Year:2018 | Volume:16 | Issue:54 Page(s): 429-441

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Information Journal Paper

Title

Optimal Dynamic Manipulation Workspace of a Single Link Robot Manipulator

Author(s)

NIKOOBIN AMIN | Farashi Zahra | ASGARI MOHSEN | MORADI MOJTABA | Issue Writer Certificate

Keywords

Dynamic manipulationQ1

WorkspaceQ1

Single link robotQ1

Optimal controlQ2

Indirect methodQ1

Abstract

In the Dynamic manipulation of objects, the aim is to throw an object by a robot to the desired target even outside the reachable Workspace. In this paper, the concept of the throw-able Workspace or Dynamic manipulation Workspace is defined as a set of points which the robot is able to throw the object at them. Thus, in order to obtain the maximum Dynamic manipulation Workspace which means the farthest points that object can be manipulated, it is necessary to solve the optimal throwing problem. To this end, the optimal throwing problem is defined as the Optimal control problem solved using the indirect solution method based on the fundamental theorem of the calculus of variations. By applying the throwing equation as a moving boundary condition, the derived optimality conditions construct a two-point boundary value problem which its solution results in the optimal throwing. Finally, an algorithm is presented to calculate the maximum Dynamic manipulation Workspace. Then, simulation results are presented for a Single link robot in order to evaluate the defined concept as well as the effectiveness of the proposed method for problem-solving.

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APA: Copy

NIKOOBIN, AMIN, Farashi, Zahra, ASGARI, MOHSEN, & MORADI, MOJTABA. (2018). Optimal Dynamic Manipulation Workspace of a Single Link Robot Manipulator. JOURNAL OF MODELING IN ENGINEERING, 16(54 ), 429-441. SID. https://sid.ir/paper/358203/en

Vancouver: Copy

NIKOOBIN AMIN, Farashi Zahra, ASGARI MOHSEN, MORADI MOJTABA. Optimal Dynamic Manipulation Workspace of a Single Link Robot Manipulator. JOURNAL OF MODELING IN ENGINEERING[Internet]. 2018;16(54 ):429-441. Available from: https://sid.ir/paper/358203/en

IEEE: Copy

AMIN NIKOOBIN, Zahra Farashi, MOHSEN ASGARI, and MOJTABA MORADI, “Optimal Dynamic Manipulation Workspace of a Single Link Robot Manipulator,” JOURNAL OF MODELING IN ENGINEERING, vol. 16, no. 54 , pp. 429–441, 2018, [Online]. Available: https://sid.ir/paper/358203/en

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