By using a phase-plane analysis method,the minimum-time trajectory plan-ning problem of a manipulator moving along a given geometric path subject to the con-straints of joint velocities and accelerations is solved in ...By using a phase-plane analysis method,the minimum-time trajectory plan-ning problem of a manipulator moving along a given geometric path subject to the con-straints of joint velocities and accelerations is solved in this paper.The simulation resultfor the first three joints of PUMA-560 is given.展开更多
The time-optimal trajectory planning is proposed under kinematic and dynamic constraints for a 2-DOF wheeled robot. In order to make full use of the motor’s capacity, we calculate the maximum torque and the minimum t...The time-optimal trajectory planning is proposed under kinematic and dynamic constraints for a 2-DOF wheeled robot. In order to make full use of the motor’s capacity, we calculate the maximum torque and the minimum torque by considering the maximum heat-converted power generated by the DC motor. The shortest path is planned by using the geometric method under kinematic constraints. Under the bound torques, the velocity limits and the maximum acceleration (deceleration) are obtained by combining with the dynamics. We utilize the phase-plane analysis technique to generate the time optimal trajectory based on the shortest path. At last, the computer simulations for our laboratory mobile robot were performed. The simulation results prove the proposed method is simple and effective for practical use.展开更多
The solution of minimum-time feedback optimal control problems is generally achieved using the dynamic programming approach,in which the value function must be computed on numerical grids with a very large number of p...The solution of minimum-time feedback optimal control problems is generally achieved using the dynamic programming approach,in which the value function must be computed on numerical grids with a very large number of points.Classical numerical strategies,such as value iteration(VI)or policy iteration(PI)methods,become very inefficient if the number of grid points is large.This is a strong limitation to their use in real-world applications.To address this problem,the authors present a novel multilevel framework,where classical VI and PI are embedded in a full-approximation storage(FAS)scheme.In fact,the authors will show that VI and PI have excellent smoothing properties,a fact that makes them very suitable for use in multilevel frameworks.Moreover,a new smoother is developed by accelerating VI using Anderson’s extrapolation technique.The effectiveness of our new scheme is demonstrated by several numerical experiments.展开更多
A problem similar to the famous brachistochrone problem is examined in which, instead of a smooth curve, the path consists of two straight-line sections, one slant and one horizontal. The condition for minimum sliding...A problem similar to the famous brachistochrone problem is examined in which, instead of a smooth curve, the path consists of two straight-line sections, one slant and one horizontal. The condition for minimum sliding time is investigated, producing results that are both counterintuitive and interesting.展开更多
文摘By using a phase-plane analysis method,the minimum-time trajectory plan-ning problem of a manipulator moving along a given geometric path subject to the con-straints of joint velocities and accelerations is solved in this paper.The simulation resultfor the first three joints of PUMA-560 is given.
文摘The time-optimal trajectory planning is proposed under kinematic and dynamic constraints for a 2-DOF wheeled robot. In order to make full use of the motor’s capacity, we calculate the maximum torque and the minimum torque by considering the maximum heat-converted power generated by the DC motor. The shortest path is planned by using the geometric method under kinematic constraints. Under the bound torques, the velocity limits and the maximum acceleration (deceleration) are obtained by combining with the dynamics. We utilize the phase-plane analysis technique to generate the time optimal trajectory based on the shortest path. At last, the computer simulations for our laboratory mobile robot were performed. The simulation results prove the proposed method is simple and effective for practical use.
文摘The solution of minimum-time feedback optimal control problems is generally achieved using the dynamic programming approach,in which the value function must be computed on numerical grids with a very large number of points.Classical numerical strategies,such as value iteration(VI)or policy iteration(PI)methods,become very inefficient if the number of grid points is large.This is a strong limitation to their use in real-world applications.To address this problem,the authors present a novel multilevel framework,where classical VI and PI are embedded in a full-approximation storage(FAS)scheme.In fact,the authors will show that VI and PI have excellent smoothing properties,a fact that makes them very suitable for use in multilevel frameworks.Moreover,a new smoother is developed by accelerating VI using Anderson’s extrapolation technique.The effectiveness of our new scheme is demonstrated by several numerical experiments.
文摘A problem similar to the famous brachistochrone problem is examined in which, instead of a smooth curve, the path consists of two straight-line sections, one slant and one horizontal. The condition for minimum sliding time is investigated, producing results that are both counterintuitive and interesting.
