TY - GEN
T1 - LP based global minimization of peak base reaction force of maneuvering robots
AU - Schmid, Matthias
AU - Ramrath, Lukas
AU - Singh, T.
PY - 2003
Y1 - 2003
N2 - A method for computing the optimal control to minimize a robot's peak base reaction force, while avoiding obstacles, is presented. It contains the manipulator dynamics, initial and final conditions and obstacle constraints. Using the assumption that minimal peak base reaction force control is equal to time-optimal control, an iterative approach is used to find the path and control that globally minimizes the robots peak base reaction force. The conditions for optimality are derived and incorporated into an algorithm which uses linear programming to solve the given problem. Equations describing the system dynamics and the obstacle position are mapped into the center of mass space, a convenient space for path planning. The method is demonstrated for a general maneuver in the center of mass space and for a two-link manipulator which includes obstacle constraints.
AB - A method for computing the optimal control to minimize a robot's peak base reaction force, while avoiding obstacles, is presented. It contains the manipulator dynamics, initial and final conditions and obstacle constraints. Using the assumption that minimal peak base reaction force control is equal to time-optimal control, an iterative approach is used to find the path and control that globally minimizes the robots peak base reaction force. The conditions for optimality are derived and incorporated into an algorithm which uses linear programming to solve the given problem. Equations describing the system dynamics and the obstacle position are mapped into the center of mass space, a convenient space for path planning. The method is demonstrated for a general maneuver in the center of mass space and for a two-link manipulator which includes obstacle constraints.
UR - https://www.scopus.com/pages/publications/85088343887
U2 - 10.2514/6.2003-5567
DO - 10.2514/6.2003-5567
M3 - Conference contribution
AN - SCOPUS:85088343887
SN - 9781563479786
SN - 9781624100901
T3 - AIAA Guidance, Navigation, and Control Conference and Exhibit
BT - AIAA Guidance, Navigation, and Control Conference and Exhibit
PB - American Institute of Aeronautics and Astronautics Inc.
T2 - AIAA Guidance, Navigation, and Control Conference and Exhibit 2003
Y2 - 11 August 2003 through 14 August 2003
ER -