Least-energy Maneuver of Five-link Manipulator Constrained within Tunnel Space Using Direct Collocation

Authors

Xiuqiang Pan, College of Information and Communications, Zhejiang Industry and Trade Vocational College, Wenzhou 325003, China;
Chengcai Mei, College of Information and Communications, Zhejiang Industry and Trade Vocational College, Wenzhou 325003, China;
Junjie Chen, College of Information and Communications, Zhejiang Industry and Trade Vocational College, Wenzhou 325003, China;

Abstract

Abstract: Optimal control and designs least-energy maneuver control laws for a five-linked manipulator were applied in order to carry out designated tasks in a confined space. Lagrange-Euler equation described the relationships between the actuators and system dynamics. Euler-Lagrange formulation indicates how optimization can be achieved when optimum occurs. Direct collocation method was introduced in order to solve this highly nonlinear dynamic optimal control problem. Simulations were done to exploit how the manipulator reacted to the constraint. In this study, the diameter of the cylindrical space was shrunken each time by 0.1 meters. The value of the cost function and final time observed.

Recommended Citation

Pan, Xiuqiang; Mei, Chengcai; and Chen, Junjie (2020) "Least-energy Maneuver of Five-link Manipulator Constrained within Tunnel Space Using Direct Collocation," Journal of System Simulation: Vol. 27: Iss. 8, Article 28.
Available at: https://dc-china-simulation.researchcommons.org/journal/vol27/iss8/28

First Page

1844

Revised Date

2015-07-09

DOI Link

https://doi.org/

Last Page

1852

CLC

TP391.9

Recommended Citation

Pan Xiuqiang, Mei Chengcai, Chen Junjie. Least-energy Maneuver of Five-link Manipulator Constrained within Tunnel Space Using Direct Collocation[J]. Journal of System Simulation, 2015, 27(8): 1844-1852.