Open AccessFast Trajectory Planning for VGT Manipulator via Convex Optimization
Author(s) -
Yongyi Yang,
Bosen Jiang,
Shiqiang Hu
Publication year - 2015
Publication title -
international journal of advanced robotic systems
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.394
H-Index - 46
eISSN - 1729-8814
pISSN - 1729-8806
DOI - 10.5772/60506
Subject(s) - computer science , truss , trajectory , mathematical optimization , convergence (economics) , nonlinear system , control theory (sociology) , trajectory optimization , quadratic equation , point (geometry) , mathematics , optimal control , artificial intelligence , control (management) , engineering , physics , geometry , structural engineering , quantum mechanics , astronomy , economics , economic growth
Variable-geometry truss (VGT) can be used as joints in a large, lightweight, high load-bearing manipulator for many industrial applications. This paper introduces the modelling process of a multisection three-degree-freedom double octahedral VGT manipulator and proposes a new point-to-point trajectory planning algorithm for a VGT manipulator with a nonlinear convex optimization approach. The trajectory planning problem is converted to a quadratic convex optimization problem, and if some parameters are appropriately chosen the proposed algorithm is proved to be of global convergence and to have a super-linear convergence rate. The effectiveness of the proposed algorithm is illustrated by numerical simulation