Open AccessOptimal Reference Trajectory for a Type Xn-1Rp Underactuated Manipulator
Author(s) -
Hicham Zatla,
Bilal Tolbi,
Fares Bouriachi
Publication year - 2021
Publication title -
journal européen des systèmes automatisés/journal européen des systèmes automaitsés
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.16
H-Index - 20
eISSN - 2116-7087
pISSN - 1269-6935
DOI - 10.18280/jesa.540314
Subject(s) - nonholonomic system , trajectory , underactuation , control theory (sociology) , constraint (computer aided design) , computer science , acceleration , motion (physics) , optimal control , mathematics , control (management) , robot , mathematical optimization , artificial intelligence , physics , mobile robot , geometry , classical mechanics , astronomy
The aim of the present research is to find an optimal reference trajectory for an underactuated manipulator of type Xn-1Rp, where X is any type of joints and R is the last rotary joint, for n≥3. It is worth noting that in the case of absence of control of fully actuated manipulator, some second-order nonholonomic constraints may appear; these are known as acceleration constraints. The second-order nonholonomic constraint is a non-integrable differential equation. For this purpose, it was decided to combine two methods. The first one provides the open-loop control of the manipulator whatever the motion time is; in practice, the motion time should be minimal under the given geometric, technological, and dynamic constraints. To address this issue, a second method, based on the offline optimization approach, was used to achieve the time-optimal motion. It was revealed that the above combination gives an optimal control trajectory for an underactuated manipulator in which a reference trajectory can be utilized.