Recursive modeling and control of multi-link manipulators with vacuum grippers

R. Callies; S. Fronz

doi:10.1016/j.matcom.2008.02.003

Recursive modeling and control of multi-link manipulators with vacuum grippers

R. Callies, S. Fronz

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P+Z Engineering GmbH

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10 Scopus citations

Abstract

Manipulators equipped with vacuum grippers are a new and flexible element in innovative material-flow solutions. The limited holding forces of vacuum grippers require elaborate strategies of control to prevent the contact between gripper and load from breaking off especially in time optimal motion. Mathematically this can be modeled as a constraint on internal forces of a multi-link manipulator. A Maximum Principle based approach is presented for the accurate solution of the control problem. Not only the equations of motion of the manipulator, but the complete optimal control problem is modeled recursively. By this, the structural properties of the control problem are revealed. Direct access becomes possible to all information necessary to restrict internal forces efficiently.

Original language	English
Pages (from-to)	906-916
Number of pages	11
Journal	Mathematics and Computers in Simulation
Volume	79
Issue number	4
DOIs	https://doi.org/10.1016/j.matcom.2008.02.003
State	Published - 15 Dec 2008

Keywords

Adjoint differential equations
Optimal control
Recursive modeling
Robot dynamics
Vacuum gripper

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10.1016/j.matcom.2008.02.003

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title = "Recursive modeling and control of multi-link manipulators with vacuum grippers",

abstract = "Manipulators equipped with vacuum grippers are a new and flexible element in innovative material-flow solutions. The limited holding forces of vacuum grippers require elaborate strategies of control to prevent the contact between gripper and load from breaking off especially in time optimal motion. Mathematically this can be modeled as a constraint on internal forces of a multi-link manipulator. A Maximum Principle based approach is presented for the accurate solution of the control problem. Not only the equations of motion of the manipulator, but the complete optimal control problem is modeled recursively. By this, the structural properties of the control problem are revealed. Direct access becomes possible to all information necessary to restrict internal forces efficiently.",

keywords = "Adjoint differential equations, Optimal control, Recursive modeling, Robot dynamics, Vacuum gripper",

author = "R. Callies and S. Fronz",

note = "Funding Information: The authors are indebted to Prof. Dr. Dr.h.c. mult. R. Bulirsch who always encouraged and supported their work. This work has been partly supported by the Bayerische Forschungsstiftung under contract ForTePro TP-RP.1.",

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AU - Fronz, S.

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PY - 2008/12/15

Y1 - 2008/12/15

N2 - Manipulators equipped with vacuum grippers are a new and flexible element in innovative material-flow solutions. The limited holding forces of vacuum grippers require elaborate strategies of control to prevent the contact between gripper and load from breaking off especially in time optimal motion. Mathematically this can be modeled as a constraint on internal forces of a multi-link manipulator. A Maximum Principle based approach is presented for the accurate solution of the control problem. Not only the equations of motion of the manipulator, but the complete optimal control problem is modeled recursively. By this, the structural properties of the control problem are revealed. Direct access becomes possible to all information necessary to restrict internal forces efficiently.

AB - Manipulators equipped with vacuum grippers are a new and flexible element in innovative material-flow solutions. The limited holding forces of vacuum grippers require elaborate strategies of control to prevent the contact between gripper and load from breaking off especially in time optimal motion. Mathematically this can be modeled as a constraint on internal forces of a multi-link manipulator. A Maximum Principle based approach is presented for the accurate solution of the control problem. Not only the equations of motion of the manipulator, but the complete optimal control problem is modeled recursively. By this, the structural properties of the control problem are revealed. Direct access becomes possible to all information necessary to restrict internal forces efficiently.

KW - Adjoint differential equations

KW - Optimal control

KW - Recursive modeling

KW - Robot dynamics

KW - Vacuum gripper

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JF - Mathematics and Computers in Simulation

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ER -

Recursive modeling and control of multi-link manipulators with vacuum grippers

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Keywords

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