Path planning and dynamic simulation of weightlifting robot manipulator

The current paper proposes a novel algorithm to construct an efficient path for each joint of the weightlifting robot based on the proposed "momentum method". The Dijkstra algorithm, a typical searching method in artificial intelligence, is adopted to obtain the shortest path. A novel idea is proposed to improve the efficiency of Dijkstra algorithm so that it took less time to search for solutions with high accuracy. In order to obtain a high efficiency computing processes in dynamics, we formulize the optimal path with the discrete grid points based on the B-spline theory, so that we can calculate the angular velocity, angular acceleration and moment more precisely. The path planning dynamic model of three joints weightlifting robot is presented. The results of simulations demonstrated the effective and practical work with the proposed method in this paper.

[1]  Hee-Jun Kang,et al.  An optimal control approach to robust control of robot manipulators , 2003, 7th Korea-Russia International Symposium on Science and Technology, Proceedings KORUS 2003. (IEEE Cat. No.03EX737).

[2]  N. Matsunaga,et al.  Kinematic analysis of human lifting movement for biped robot control , 2004, The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04..

[3]  Kunwoo Lee,et al.  Principles of CAD/CAM/CAE Systems , 1999 .

[4]  Giuseppe Carenini,et al.  Proceedings of the Seventeenth International Joint Conference on Artificial Intelligence, IJCAI 2001, Seattle, Washington, USA, August 4-10, 2001 , 2001 .

[5]  Andrew G. Barto,et al.  Robot Weightlifting By Direct Policy Search , 2001, IJCAI.

[6]  Edsger W. Dijkstra,et al.  A note on two problems in connexion with graphs , 1959, Numerische Mathematik.

[7]  James E. Bobrow,et al.  Payload maximization for open chained manipulators: finding weightlifting motions for a Puma 762 robot , 2001, IEEE Trans. Robotics Autom..