Conference proceeding
A New Method for Determining Joint Constraint Forces and Moments During Optimal Dynamic Motion of Redundant Manipulators
Volume 5: 6th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, Parts A, B, and C, Vol.5, pp.161-172
ASME 2007 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Las Vegas, Nevada, USA, Sept. 04 - 07, 2007
01/01/2007
DOI: 10.1115/DETC2007-35677
Abstract
The kinematic representations of general open-loop chains in many robotic applications are based on the Denavit-Hartenberg (DH) notation. However, when the DH representation is used for kinematic modeling, the relative joint constraints cannot be described explicitly using the common formulation methods. In this paper, we propose a new formulation of solving a system of differential-algebraic equations (DAEs) where the method of Lagrange multipliers is incorporated into the optimization problem for optimal motion planning of redundant systems. In particular, a set of fictitious joints is modeled to solve for the joint constraint forces and moments, as well as the optimal dynamic motion and the required actuator torques, of redundant manipulators described in DH representation. The proposed method is formulated within the framework of our earlier study on the generation of load-effective optimal dynamic motions of redundant manipulators that guarantee successful execution of given tasks, in which the Lagrangian dynamics for general external loads are incorporated. Some example tasks of a simple planar manipulator and a high-degree-of-freedom digital human model are illustrated, and the results show accurate calculation of joint constraint loads without altering the original planned motion. The proposed optimization formulation is equivalent to solving DAEs without integration.
Details
- Title: Subtitle
- A New Method for Determining Joint Constraint Forces and Moments During Optimal Dynamic Motion of Redundant Manipulators
- Creators
- Joo H Kim - University of IowaJingzhou Yang - University of IowaKarim Abdel-Malek - University of Iowa
- Resource Type
- Conference proceeding
- Publication Details
- Volume 5: 6th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, Parts A, B, and C, Vol.5, pp.161-172
- Conference
- ASME 2007 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Las Vegas, Nevada, USA, Sept. 04 - 07, 2007
- DOI
- 10.1115/DETC2007-35677
- Publisher
- ASMEDC
- Language
- English
- Date published
- 01/01/2007
- Academic Unit
- Roy J. Carver Department of Biomedical Engineering; Mechanical Engineering
- Record Identifier
- 9984196641102771
Metrics
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