Fast Trajectory Planning for VGT Manipulator via Convex Optimization | Zendy

Yongsheng Yang | Zendy; Bosen Jiang | Zendy; Shiqiang Hu | Zendy

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Fast Trajectory Planning for VGT Manipulator via Convex Optimization

Author(s) -

Yongsheng 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

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