Eventos Anais de eventos
COBEM 2017
24th ABCM International Congress of Mechanical Engineering
Velocity and Posture Selection for Torque Optimization in Manipulators with Two-Dimensional Force Requirements
Submission Author:
Diego Gabriel Gomes Rosa , RJ , Brazil
Co-Authors:
Marco Antonio Meggiolaro, José Flávio Silveira Feiteira, Diego Gabriel Gomes Rosa
Presenter: Diego Gabriel Gomes Rosa
doi://10.26678/ABCM.COBEM2017.COB17-0859
Abstract
This work presents a methodology to perform a combined torque and time optimization for trajectories with particular force requirements. Usually, to reduce the time interval of a trajectory, elevated torques are required, an issue mainly when the mechanism needs to spend part of its energy to apply forces on its environment. In order to find a solution for this problem, an optimization method can be adopted. Here, the procedure is divided in two phases. First, a manipulator posture is chosen to minimize the total applied torques on the robot joints, performed by using a recently developed technique. Afterwards, from the selected posture, a set of possible joint velocities is simulated. The goal of this process is to find a threshold for the time trajectory from which the torque on the robot joints is not largely intensified. The dynamics based on a Lagrangian formulation of a two-link serial arm is applied for the mechanical modeling. By carrying out the analysis, it is possible to relate the robot posture, the velocity and the forces applied on the robot end-effector with the torque on the robot joints, to find an optimal trajectory.
Keywords
minimum time, optimal trajectory, torque minimization, velocity selection
