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Cites:

Information Journal Paper

Title

TRAJECTORY OPTIMIZATION OF CABLE PARALLEL MANIPULATORS IN POINT-TO-POINT MOTION

Pages

  29-34

Abstract

 Planning robot trajectory is a complex task that plays a significant role in design and application of robots in task space. The problem is formulated as a trajectory OPTIMIZATION problem which is fundamentally a constrained nonlinear OPTIMIZATION problem. Open-loop optimal control method is proposed as an approach for trajectory OPTIMIZATION of cable parallel manipulator for a given two-end-point task in point-to-point motion. Dynamic equations are organized in a closed form and are formulated in the state space form. A computational technique is developed for obtaining optimal trajectory to maximize dynamic load carrying capacity. By solving the corresponding nonlinear TPBVP, the problem of optimal path and maximum carrying for a 6 DOF spatial CABLE ROBOT is studied. Finally, dynamic modelling in ADAMS is presented and to validate the optimal control method, optimal trajectory concerned with dynamic motion is compared with the software results.

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    Cite

    APA: Copy

    HABIBNEZHAD KORAYEM, MOHARAM, BAMDAD, MEHDI, & AKBAREH, ASHKAN. (2010). TRAJECTORY OPTIMIZATION OF CABLE PARALLEL MANIPULATORS IN POINT-TO-POINT MOTION. JOURNAL OF OPTIMIZATION IN INDUSTRIAL ENGINEERING (JOURNAL OF INDUSTRIAL ENGINEERING), 4(NO. 5), 29-34. SID. https://sid.ir/paper/586214/en

    Vancouver: Copy

    HABIBNEZHAD KORAYEM MOHARAM, BAMDAD MEHDI, AKBAREH ASHKAN. TRAJECTORY OPTIMIZATION OF CABLE PARALLEL MANIPULATORS IN POINT-TO-POINT MOTION. JOURNAL OF OPTIMIZATION IN INDUSTRIAL ENGINEERING (JOURNAL OF INDUSTRIAL ENGINEERING)[Internet]. 2010;4(NO. 5):29-34. Available from: https://sid.ir/paper/586214/en

    IEEE: Copy

    MOHARAM HABIBNEZHAD KORAYEM, MEHDI BAMDAD, and ASHKAN AKBAREH, “TRAJECTORY OPTIMIZATION OF CABLE PARALLEL MANIPULATORS IN POINT-TO-POINT MOTION,” JOURNAL OF OPTIMIZATION IN INDUSTRIAL ENGINEERING (JOURNAL OF INDUSTRIAL ENGINEERING), vol. 4, no. NO. 5, pp. 29–34, 2010, [Online]. Available: https://sid.ir/paper/586214/en

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