Fast Trajectory Planning for VGT Manipulator via Convex Optimization. (30th September 2015)

• Record Type: Journal Article
• Authors: Yang, Yongsheng; Jiang, Bosen; Hu, Shiqiang
• Is Part Of: International journal of advanced robotic systems. Volume 12:Number 9(2015)
• Publication Date: 2015-09-30
• Subjects: VGT -- Kinematic Model -- Trajectory Planning; Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.5772/60506
• Languages: English
• ISSNs: 1729-8806

Abstract

Variable-geometry truss (VGT) can be used as joints in a large, lightweight, high load-bearing manipulator for many industrial applications. This paper introduces the modelling process of a multisection three-degree-freedom double octahedral VGT manipulator and proposes a new point-to-point trajectory planning algorithm for a VGT manipulator with a nonlinear convex optimization approach. The trajectory planning problem is converted to a quadratic convex optimization problem, and if some parameters are appropriately chosen the proposed algorithm is proved to be of global convergence and to have a super-linear convergence rate. The effectiveness of the proposed algorithm is illustrated by numerical simulation.