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Convex optimization approach for the path-following problem of two collaborative robots | ||
| Journal of Mathematical Modeling | ||
| مقالات آماده انتشار، اصلاح شده برای چاپ، انتشار آنلاین از تاریخ 03 آذر 1404 اصل مقاله (2.57 M) | ||
| نوع مقاله: Research Article | ||
| شناسه دیجیتال (DOI): 10.22124/jmm.2025.31212.2798 | ||
| نویسندگان | ||
| Mohammad Keyanpour* 1؛ Maryam Kia-Lashgami2 | ||
| 1Department of Applied Mathematics, Faculty of Mathematical Sciences, University of Guilan, P.O. Box 1914, Rasht, Iran. | ||
| 2Department of Applied Mathematics, Faculty of Mathematical Sciences, University of Guilan, Rasht, Iran. | ||
| چکیده | ||
| This paper investigates the time-optimal path-tracking problem for a collaborative robotic system, considering some limitations and dynamic characteristics. This problem is formulated for a robotic system consisting of two-link planar manipulators with and without bar cases along a predetermined geometric path in minimum time. The main challenges are to satisfy both the co-position and co-time conditions of the end-effector movement, as well as the physical limitations of the applied torque to the joints. Through discretization and convexification, we convert the problem into a convex cone optimization problem. The numerical example confirms the effectiveness of the method. | ||
| کلیدواژه‌ها | ||
| Convex problem؛ Mathematical modeling؛ Collaborative robots؛ Optimization؛ Control | ||
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آمار تعداد مشاهده مقاله: 1 تعداد دریافت فایل اصل مقاله: 1 |
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