Open AccessOPP approach for multi degree of freedom robotic arm Based on Kinematics and Dynamics of Robot
Author(s) -
Praneet Dutta,
Rashmi Ranjan Das,
Rupali Mathur,
Deepika Rani Sona
Publication year - 2015
Publication title -
international journal of robotics and automation (ijra)/iaes international journal of robotics and automation
Language(s) - English
Resource type - Journals
eISSN - 2722-2586
pISSN - 2089-4856
DOI - 10.11591/ijra.v4i4.pp284-291
Subject(s) - trajectory , control theory (sociology) , kinematics , robotic arm , motion planning , torque , optimal control , computer science , degrees of freedom (physics and chemistry) , path (computing) , function (biology) , mathematics , robot , control engineering , mathematical optimization , control (management) , engineering , artificial intelligence , physics , classical mechanics , quantum mechanics , astronomy , evolutionary biology , biology , thermodynamics , programming language
This paper deals with the trajectory and path generation of the industrial manipulator. The trajectory is obtained using the equations of motion and also the optimal path planning (OPP) approach under kinodynamic constraints. The optimal control problem is defined for the minimum cost function and to obtain the necessary conditions. Here we have used pontrygain’s minimum principle to obtain the limiting value of joint angle and also the joint velocity and torque. In this paper we have used the “Two degree of freedom (DOF) manipulator” for analysis and designing the optimal control for multi link and multi degree of freedom manipulator. For analysis purposes, simulation software has been used to formulate the trajectory and minimize the cost function involved.