Advanced Search
Volume 33 Issue 01
Jan.  2007
Turn off MathJax
Article Contents
Abstract
References
Journal of Beijing University of Aeronautics and Astronautics  > 2007  >  33(01): 105-109.
Zhang Hongwei, Zhang Yidu, Zhao Xiaoci, et al. Key techniques in simulation of machining distortion for aeronautical monolithic component[J]. Journal of Beijing University of Aeronautics and Astronautics, 2008, 34(02): 239-243. (in Chinese)
Citation: Liu Shengping, Lu Zhen, Wu Lichenget al. Optimal motion planning of a three-link planar under-actuated manipulator system[J]. Journal of Beijing University of Aeronautics and Astronautics, 2007, 33(01): 105-109. (in Chinese)
shu

Optimal motion planning of a three-link planar under-actuated manipulator system

  • 1.

    School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100083, China

  • 2. Tsinghua University, Beijing 100084, China

  • Received Date: 31 Dec 2005
  • Publish Date: 31 Jan 2007
    Abstract
  • An optimal motion planning scheme for a three-link planar under-actuated manipulator moving between two stationary states was considered. The manipulator has two prismatic joints that are actuated, while the third joint of the manipulator is a revolute passive joint which has neither an actuator nor a holding brake. The dynamic constraint on the free link is shown to be second-order nonholonomic. The states and inputs of the system were expressed in terms of higher order derivatives of a subset of states by using coordinate and input transformations. The explicit expressions for the states and inputs were used to change a constrained dynamic optimization problem into an unconstrained one. The necessary conditions for optimality were derived by calculus of variations.The scheme was applied to a planar PPR under-actuated manipulator and numerical results were reported.

     

    • FullText(HTML)
    • References(1)
  • [1] Luca A D, Mattone R, Oriolo G. Stabilization of an underactuated planar 2R manipulator[J]. International Journal of Robust and Nonlinear Control, 2000, 24:181-198 [2] Luca A D, Iannitti S, Oriolo G. Stabilization of a PR planar underactuated robot Proceeding of the 2001 IEEE International Conference on Robotics & Automation. Seoul:IEEE Press,2001:2090-2095 [3] Arai H, Tanie K, Shiroma N. Nonholonomic control of a three-dof plarnar underactuated manipulator[J]. IEEE Trans on Robotics and Automation, 1998, 14(5):681-695 [4] Imura J, Kobayashi K, Yoshikawa T. Nonholonomic control of 3 link planar manipulator with a free Joint Pro 35th IEEE Int Conf Decision Control. Kobe:IEEE Press, 1996:1435-1436 [5] Mahindrakar A D, Banavar R N, Reyhanoglu M. Discontinuous feedback control of a 3 link planar PPR underactuated manipulator Proceeding of the 40th IEEE Conference on Decision and Control. Orlando:IEEE Press,2001:2424-2429 [6] 何广平,陆震,王凤翔.欠驱动冗余度空间机器人优化控制[J].控制理论与应用,2004,21(2):305-310 He Guangping, Lu Zhen, Wang Fengxiang. Optimal control of under-actuated redundant space-robot system[J].Control Theory & Application, 2004,21(2):305-310 (in Chinese)
    • Relative Articles

  • Relative Articles

    [1]DENG C J，CHEN Q J，ZHANG T S，et al. NHC lever arm estimation algorithm for vehicle-integrated navigation systems based on dead reckoning[J]. Journal of Beijing University of Aeronautics and Astronautics，2025，51（2）：668-675 （in Chinese）. doi: 10.13700/j.bh.1001-5965.2023.0035.
    [2]CUI Zhen, ZHAO Zhigang, SU Cheng, MENG Jiadong, ZHAO Xiangtang, CHAI Wei. Dynamics and Dynamic Stability Analysis of Rope Traction Upper Limb Rehabilitation Robot[J]. Journal of Beijing University of Aeronautics and Astronautics. doi: 10.13700/j.bh.1001-5965.2024.0827
    [3]ZHU X Q，WANG T，RUAN X G，et al. Gait learning method of quadruped robot based on policy distillation[J]. Journal of Beijing University of Aeronautics and Astronautics，2025，51（2）：428-439 （in Chinese）. doi: 10.13700/j.bh.1001-5965.2023.0069.
    [4]ZHAO J K，GUO H，XU J Q. High performance control method for galvanometer laser scanner system[J]. Journal of Beijing University of Aeronautics and Astronautics，2024，50（10）：3208-3218 （in Chinese）. doi: 10.13700/j.bh.1001-5965.2022.0790.
    [5]WANG Haipeng, LIU Haina, WANG Zhendong, MOU Cunxiao, ZHANG He, YE Wen. Pod integrated navigation system elastic lever arm error compensation method[J]. Journal of Beijing University of Aeronautics and Astronautics. doi: 10.13700/j.bh.1001-5965.2024.0155
    [6]HE T Y，DONG Y，TAN L M，et al. Kinematic analysis and continuous gait planning of lunar-based equipment in walking state[J]. Journal of Beijing University of Aeronautics and Astronautics，2024，50（1）：308-316 （in Chinese）. doi: 10.13700/j.bh.1001-5965.2022.0232.
    [7]WANG R，LI J M，SHI Y L，et al. Vision-based path planning algorithm of unmanned bird-repelling vehicles in airports[J]. Journal of Beijing University of Aeronautics and Astronautics，2024，50（5）：1446-1453 （in Chinese）. doi: 10.13700/j.bh.1001-5965.2022.0717.
    [9]LIU Z Y，ZHANG G，LIU H R，et al. Software robot-based application behavior simulation for cyber security range in industrial control field[J]. Journal of Beijing University of Aeronautics and Astronautics，2024，50（7）：2237-2244 （in Chinese）. doi: 10.13700/j.bh.1001-5965.2022.0597.
    [10]ZHANG C Y，WANG G，CHE H L，et al. Motion analysis and gait planning of a novel revolving wheel-legged robot[J]. Journal of Beijing University of Aeronautics and Astronautics，2024，50（5）：1675-1684 （in Chinese）. doi: 10.13700/j.bh.1001-5965.2022.0491.
    [11]DONG J C，GAO Q H，LIU Z H. Planar motion control of distributed-driven vehicles considering dynamic hysteresis[J]. Journal of Beijing University of Aeronautics and Astronautics，2024，50（12）：3842-3853 （in Chinese）. doi: 10.13700/j.bh.1001-5965.2022.0887.
    [12]ZHAO Y Y，LIN H，LI B Q. Clamping force sensorless control strategies for electromechanical brake systems[J]. Journal of Beijing University of Aeronautics and Astronautics，2023，49（10）：2711-2720 （in Chinese）. doi: 10.13700/j.bh.1001-5965.2021.0748.
    [13]ZHAO Li-jin, YANG Shi-chun, QU Jing-yao. Research progress of EMB systems key technology[J]. Journal of Beijing University of Aeronautics and Astronautics. doi: 10.13700/j.bh.1001-5965.2023.0210
    [14]WANG C Y，YANG L M，LI Y H. A mapping leader formation control strategy for multiple mobile robots based on two-stage sliding mode control[J]. Journal of Beijing University of Aeronautics and Astronautics，2023，49（11）：3108-3114 （in Chinese）. doi: 10.13700/j.bh.1001-5965.2021.0792.
    [15]DUAN A N，ZHOU R，DI B. Multi-robot cooperative coverage of key regions considering prior information[J]. Journal of Beijing University of Aeronautics and Astronautics，2023，49（6）：1479-1486 （in Chinese）. doi: 10.13700/j.bh.1001-5965.2021.0435.
    [16]XIA Xin-hui, JIA Ying-hong, ZHANG Jun. Spherical-caging-based control of a dual-arm space robot for capturing an object[J]. Journal of Beijing University of Aeronautics and Astronautics. doi: 10.13700/j.bh.1001-5965.2023.0258
    [17]WANG Z D，GUANG C H，WANG L Q，et al. Design and implementation of robot-assisted subretinal injection system[J]. Journal of Beijing University of Aeronautics and Astronautics，2023，49（9）：2406-2414 （in Chinese）. doi: 10.13700/j.bh.1001-5965.2021.0667.
    [18]SHAO Xin, JI Li, ZOU Huaiwu, XIE Yangmin. A parameter calibration method for manipulators based on laser displacement measurement[J]. Journal of Beijing University of Aeronautics and Astronautics, 2022, 48(11): 2281-2288. doi: 10.13700/j.bh.1001-5965.2021.0093
    [19]CHI Shengkai, XIE Yongfang, CHEN Xiaofang, PENG Fan. Obstacle avoidance method of mobile robot based on obstacle cost potential field[J]. Journal of Beijing University of Aeronautics and Astronautics, 2022, 48(11): 2289-2303. doi: 10.13700/j.bh.1001-5965.2021.0095
    [20]ZHANG Libo, LI Yupeng, ZHU Deming, FU Yongling. Inverse kinematic solution of nursing robot based on genetic algorithm[J]. Journal of Beijing University of Aeronautics and Astronautics, 2022, 48(10): 1925-1932. doi: 10.13700/j.bh.1001-5965.2021.0042
    • Supplements(0)
    • Cited By

  • Cited by

    Periodical cited type(0)

    Other cited types(2)

  • 加载中

Catalog

    通讯作者: 陈斌, bchen63@163.com
    • 1. 

      沈阳化工大学材料科学与工程学院 沈阳 110142

    1. 本站搜索
    2. 百度学术搜索
    3. 万方数据库搜索
    4. CNKI搜索
    Get Citation
    PDF
    XML

    Article Metrics

    Article views(3039) PDF downloads(850) Cited by(2)
    Proportional views
    Related

    Copyright © Journal of Beijing University of Aeronautics and Astronautics

    Address: Editorial Department of Journal of Beijing University of Aeronautics and Astronautics, 37 Xueyuan Road, Haidian District, Beijing Post Code: 100191 Email: jbuaa@buaa.edu.cn

    Supported by: Beijing Renhe Information Technology Co., Ltd.    

    /

    DownLoad:  Full-Size Img  PowerPoint
    Return
    Return