An optimal time-energy control design for a prototype educational robot

Authors:
Amar Khoukhi
Affiliations:
3865–4 Rue Beaubien E Montreal QC (Canada) H1X 1H3
Venue:
Robotica
Year:
2002

Citing 0
Cited 3

On the maximum dynamic stress search problem for robot manipulators

Robotica
A hierarchical neuro-fuzzy system to near optimal-time trajectory planning of redundant manipulators

Engineering Applications of Artificial Intelligence
Constrained multi-objective trajectory planning of parallel kinematic machines

Robotics and Computer-Integrated Manufacturing

Quantified Score

Hi-index	0.00

Visualization

Abstract

In this paper we consider thc problem of optimal control design for off-line programming in educational assembly robotics. After introducing some key features for mechanical, electrical design systems and computer-control and programming of a prototype robot, we discuss the control system and the off-line programming for a case study of educational robotics. We propose a new Dynamic Optimal Time-Energy Trajectography (DOTET) controller based on the complete dynamic model of the robot and which takes into account intrinsic and extrinsic constraints, robot singularities and requirements of the task and the environment. Numerical results are given to demonstrate the efficiency of our design.