LP Based Global Minimization of Peak Base Reaction Force of Maneuvering Robots
Mathias Schmid, Lukas Ramrath, Tarunraj Singh · AIAA Guidance, Navigation, and Control Conference and Exhibit · 2003
Amethodforcomputingtheoptimalcontroltominimizearobot’speakbasereactionforce,whileavoiding obstacles, is presented. It contains the manipulator dynamics,initialandflnalconditionsandobstacleconstraints. Usingtheassumptionthatminimalpeakbase reaction force control is equal to time-optimal control, an iterative approach is used to flnd the path and control that globally minimizes the robots peak base reaction force. The conditions for optimality are derivedandincorporatedintoanalgorithmwhichuses linearprogrammingtosolvethegivenproblem. Equationsdescribingthesystemdynamicsandtheobstacle position are mapped into the center of mass space, a convenient space for path planning. The method is demonstrated for a general maneuver in the center of mass space and for a two-link manipulator which includes obstacle constraints.