OTHER
Optimal trajectory planning with maximum load carrying capacity for cable suspended robots
Moharam Habibnejad Korayem, Mahdi Bamdad, Sharareh Bayat
- Year
- 2009
- Citations
- 9
Abstract
In this paper, determination of the maximum-payload trajectory of cable-based parallel robot on the basis of the optimal control approach is presented. For capacity prediction, optimality conditions are obtained using the Pontryagin's minimum principle (PMP) which leads to the bang-bang control in a two-point boundary value problem (TPBVP) solution.
Keywords
Pontryagin's minimum principlePayload (computing)Maximum principleControl theory (sociology)Optimal controlTrajectoryRobotPoint (geometry)Boundary value problemControllability
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