Multi-Objective Trajectory Planning of FFSM Carrying a Heavy Payload
نویسندگان
چکیده
منابع مشابه
State-Dependent Riccati Equation Control for Motion Planning of Space Manipulator Carrying a Heavy Payload
In this paper, a nonlinear optimal control approach is proposed to plan the motion of a redundant free-floating space manipulator (FFSM) when carrying a heavy payload. Optimal joint trajectories are determined to track a desired end-effector path, for which limitations of the manipulator’s load-carrying capacity and tracking accuracy are simultaneously considered. In this method, FFSM is descri...
متن کاملConstrained Multi-Objective Trajectory Planning of Parallel Kinematic Machines
This paper presents a new approach to multi-objective dynamic trajectory planning of Parallel Kinematic Machines (PKM) under task, workspace and manipulator constraints. The robot kinematic and dynamic models, (including actuators) are first developed. Then the proposed trajectory planning system is introduced. It minimizes electrical and kinetic energy, robot travel time separating two samplin...
متن کاملRobot Trajectory Planning Using Multi-objective Genetic Algorithm Optimization
1 Universidade de Trás-os-Montes e Alto Douro, Dep. de Engenharia Electrotécnica, Quinta de Prados, 5000–911 Vila Real, Portugal, {epires,oliveira}@utad.pt, http://www.utad.pt/ ̃epires http://www.utad.pt/ ̃oliveira 2 Instituto Superior de Engenharia do Porto, Dep. de Engenharia Electrotécnica, Rua Dr. António Bernadino de Almeida, 4200-072 Porto, Portugal [email protected], http://www.dee.isep....
متن کاملsolution of security constrained unit commitment problem by a new multi-objective optimization method
چکیده-پخش بار بهینه به عنوان یکی از ابزار زیر بنایی برای تحلیل سیستم های قدرت پیچیده ،برای مدت طولانی مورد بررسی قرار گرفته است.پخش بار بهینه توابع هدف یک سیستم قدرت از جمله تابع هزینه سوخت ،آلودگی ،تلفات را بهینه می کند،و هم زمان قیود سیستم قدرت را نیز برآورده می کند.در کلی ترین حالتopf یک مساله بهینه سازی غیر خطی ،غیر محدب،مقیاس بزرگ،و ایستا می باشد که می تواند شامل متغیرهای کنترلی پیوسته و گ...
A Multi-Objective Programming Model for Disaster Preparedness Planning
Nowadays, the necessity of accurate quantitative decision support methods is becoming a critical subject for managers as rivalry between organizations caused a more fragile economic environment and brand reputation is becoming more important. Furthermore, dealing with incidents after they happened is not accepted by customers anymore. Managers require powerful decision making tools to support t...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: International Journal of Advanced Robotic Systems
سال: 2015
ISSN: 1729-8814,1729-8814
DOI: 10.5772/61235