Abstract
Designing optimal motion is critical in several applications for mobile robot from payload transport between two given states in a prescribed time such that a cost functional is minimized. This paper deals with the problem of path design of wheeled non-holonomic robots with flexible joints, based on Pontryagin’s minimum principle. The simplified case study of a Four Wheeled, two-link manipulator with joint elasticity is considered to study the method in generalized model. Nonlinear state and control constraints are treated without any simplifications or transforming them into sequences of systems with linear equations. By these means, the modeling of the complete optimal control problem and the accompanying boundary value problem is automated to a great extent. Performance of method is illustrated through the computer simulation.
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Korayem, M.H., Rahimi, H.N., Nikoobin, A. (2009). Analysis of Four Wheeled Flexible Joint Robotic Arms with Application on Optimal Motion Design. In: Nakamatsu, K., Phillips-Wren, G., Jain, L.C., Howlett, R.J. (eds) New Advances in Intelligent Decision Technologies. Studies in Computational Intelligence, vol 199. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-00909-9_11
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DOI: https://doi.org/10.1007/978-3-642-00909-9_11
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-00908-2
Online ISBN: 978-3-642-00909-9
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