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Application of CG Pseudo-spectral Method to Optimal Posture Adjustment of Robot Manipulator

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Intelligent Robotics and Applications (ICIRA 2021)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 13013))

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Abstract

To consider the energy saving during the robot motion, optimal posture control method for a robot manipulator is proposed. The Chebyshev-Gauss (CG) Pseudo-spectral method is used to discuss the problem with the energy optimal control. The Lagrange interpolation of barycentre is adopted to approximate the state and control variables. The continuous optimal control problem can be converted to a discrete nonlinear programming (NLP) problem. And then it can be solved by Sequential Quadratic Programming (SQP) algorithm. The simulation results of optimal energy control make the robot manipulator from the initial state to the desired terminal posture successfully. The terminal angular velocity of each link is also meet the predetermined value. The control law does not exceed the preset boundary of control.

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Acknowledgement

This research was supported by the National Key R&D Program of China (Grant No. 2019YFB1301403) and National Natural Science Foundation of China (Grant No.62073043). (Corresponding author: Xingguang Duan).

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Authors and Affiliations

  1. Beijing Institute of Technology, Beijing, 100081, China

    Qingxin Shi, Jianwu Li, Junjie Dong, Fansheng Meng, Rui Ma, Quanbin Lai & Xingguang Duan

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  1. Qingxin Shi
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  2. Jianwu Li
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  3. Junjie Dong
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  4. Fansheng Meng
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  5. Rui Ma
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  6. Quanbin Lai
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  7. Xingguang Duan
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Corresponding author

Correspondence to Xingguang Duan .

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Editors and Affiliations

  1. Tsinghua University, Beijing, China

    Xin-Jun Liu

  2. Tsinghua University, Beijing, China

    Zhenguo Nie

  3. Beihang University, Beijing, China

    Jingjun Yu

  4. Tsinghua University, Beijing, China

    Fugui Xie

  5. Shandong University, Shandong, China

    Rui Song

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Shi, Q. et al. (2021). Application of CG Pseudo-spectral Method to Optimal Posture Adjustment of Robot Manipulator. In: Liu, XJ., Nie, Z., Yu, J., Xie, F., Song, R. (eds) Intelligent Robotics and Applications. ICIRA 2021. Lecture Notes in Computer Science(), vol 13013. Springer, Cham. https://doi.org/10.1007/978-3-030-89095-7_3

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  • DOI: https://doi.org/10.1007/978-3-030-89095-7_3

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-89094-0

  • Online ISBN: 978-3-030-89095-7

  • eBook Packages: Computer ScienceComputer Science (R0)

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