Optimal Trajectory Planning and Control of 2 DOF Robotic Manipulator
Keywords:Robotic Manipulator, Trajectory Planning, Optimal Controller
AbstractRobot manipulators are nonlinear in nature thus requires accurate modeling to present the nonlinear characteristics. This paper proposes kinematic and dynamic model of 2 Degree of Freedom (DOF) robotic manipulator and design of optimal trajectory. Optimal trajectory design is based on the optimization of joint torque. Optimal trajectory design becomes more complicated when considering a complete non linear model. Hence a simplified linearized model is chosen in this work. The design of cubic polynomial trajectory for the comparison of optimal trajectory is also included in this work.
Dragan KosticÂ´â€Ÿâ€ŸModeling and Identification for High-Performance Robot Control: An RRR-Robotic Arm Case Studyâ€Ÿâ€Ÿ, Student Member, Ieee, Bram De Jager, Maarten Steinbuch, Senior Member, Ieee, And Ron Hensen Ieee Transactions On Control Systems Technology, Vol. 12, No. 6, November 2004
Erkan Zergeroglu, Darren D. Dawson, Ian W. Walker, And Pradeep Setlur, â€œNonlinear Tracking Control of Kinematically Redundant Robot Manipulatorsâ€, Ieee/Asme Transactions On Mechatronics, Vol. 9, No. 1, March 2004
Muhammad Amin Rashidifar, Ali amin Rashidifar and DArvish ahmadi,â€ Modeling and Control of 5DOF Robot Arm Using FuzzyLogic Supervisory Controlâ€.International Journal of Robotics andAutomation (IJRA) Vol. 2, No. 2, June 2013, pp. 56~68 ISSN: 2089-4856
Vivek Deshpande1 & P M George2,â€ Kinematic Modeling and Analysis Of 5 Dof Robotic Armâ€, International Journal of Robotics Research and Development (IJRRD) ISSN(P): 2250-1592; ISSN(E): 2278â€“9421
Jyoti Ohri, Dhaval R Vyas and Pretty Neelam Topno,â€ Comparison of Robustness of PID Control and Sliding Mode Control of Robotic Manipulatorâ€, International Symposium on Devices MEMS, Intelligent Systems & Communication (ISDMISC) 2011 Proceedings published by International Journal of Computer ApplicationsÂ® (IJCA)
F.Y.C. Albert1, S.P. Koh2, C.P. Chen3, S.K.Tiong4, S.Y.S. â€œOptimizing Joint Angles of Robotic Manipulator using genetic Algorithmâ€, Edwin5+,2009 International Conference on Computer Engineering and Applications, IPCSIT vol.2 (2011) Â© (2011) IACSIT Press, Singapore.
Stanislav Å tevo. Ivan Sekaj. Martin Dekan ,â€Optimization of Robotic Arm Trajectory Using Genetic Algorithmâ€, Preprints of the 19th World Congress. The International Federation of Automatic Control Cape Town, South Africa. August 24-29, 2014.
Gouri Shankar Sharma and Amanpreet Kaur,â€Optimization of Energy in Robotic arm using Genetic algorithmâ€,IJCST:Vol 2,Issue 2,June 2011.
Huashan Liu, Xiaobo Lai and Wenxiang Wu,â€Time optimal jerk continuous trajectory planning for robot manipulators with kinematic constraintsâ€,Robotics and Computer Integrated Manufacturing, Issue 29, August 2013.
Bahaa Ibraheem Kazem , Ali Ibrahim Mahdi, Ali Talib Oudah,â€œ Motion Planning for a Robot Arm by Using Genetic Algorithmâ€, Jordan Journal of Mechanical and Industrial Engineering, Volume 2, Number 3,Sep. 2008
How to Cite
- Papers must be submitted on the understanding that they have not been published elsewhere (except in the form of an abstract or as part of a published lecture, review, or thesis) and are not currently under consideration by another journal published by any other publisher.
- It is also the authors responsibility to ensure that the articles emanating from a particular source are submitted with the necessary approval.
- The authors warrant that the paper is original and that he/she is the author of the paper, except for material that is clearly identified as to its original source, with permission notices from the copyright owners where required.
- The authors ensure that all the references carefully and they are accurate in the text as well as in the list of references (and vice versa).
- Authors retain copyright and grant the journal right of first publication with the work simultaneously licensed under a Attribution-NonCommercial 4.0 International that allows others to share the work with an acknowledgement of the work's authorship and initial publication in this journal.
- Authors are able to enter into separate, additional contractual arrangements for the non-exclusive distribution of the journal's published version of the work (e.g., post it to an institutional repository or publish it in a book), with an acknowledgement of its initial publication in this journal.
- Authors are permitted and encouraged to post their work online (e.g., in institutional repositories or on their website) prior to and during the submission process, as it can lead to productive exchanges, as well as earlier and greater citation of published work (See The Effect of Open Access).
- The journal/publisher is not responsible for subsequent uses of the work. It is the author's responsibility to bring an infringement action if so desired by the author.