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

DOI

10.2991/iccsee.2013.239How to use a DOI?

Keywords

direct collocation, robotic manipulator, optimal control

Abstract

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 are intersecting and perpendicular to each other. A least energy maneuvering sequence is expected.

Copyright

© 2013, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Cheng-cai Mei
AU  - Xiu-qian Pan
AU  - Jyun-jye Chen
AU  - Xiu-long Wu
PY  - 2013/03
DA  - 2013/03
TI  - Solving a Five-linked Robotic Manipulator CNC Problem Using Direct Collocation with Nonlinear Programming
BT  - Proceedings of the 2nd International Conference on Computer Science and Electronics Engineering (ICCSEE 2013)
PB  - Atlantis Press
SP  - 948
EP  - 951
SN  - 1951-6851
UR  - https://doi.org/10.2991/iccsee.2013.239
DO  - 10.2991/iccsee.2013.239
ID  - Mei2013/03
ER  -