Solving a Five-linked Robotic Manipulator CNC Problem Using Direct Collocation with Nonlinear Programming

摘要：

　　Computer numerical control (CNC) and robotic welding have long been applied to industrial manufacturing in production lines.This paper introduces optimal control to layout the maneuvering sequence for a five-linked manipulator arm.Two-point boundary-value problem (TPBVP) is inevitable in most of the dynamic optimal control problem.Direct collocation with Nonlinear Programming (DCNLP)converts a TPBVP into a nonlinear programming problem.DCNLP has been extensively applied in solving the space and aircraft control problems but is not much adopted in solving robotic optimization problems.The paper requires a manipulator to weld up two cylinders which arc intersecting and perpendicular to each other.A least energy maneuvering sequence is expected.

关键词： direct collocation robotic manipulator optimal control

作者: Cheng-cai Mei Xiu-qian Pan Jyun-jye Chen Xiu-long Wu

作者单位: College of Information and Communications Zhejiang Industry and Trade Vocational College Wenzhou,Zhejiang,China

会议类型: 国际会议

会议名称: 2013 2nd International Conference on Computer Science and Electronics Engineering(ICCSEE2013)(2013年第二届计算机科学与电子工程国际会议)

会议地点: 杭州

会议语种:英文

页码: 948-951

在线出版日期: 2013-03-22（万方平台首次上网日期，不代表论文的发表时间）