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Optimal motion planning of juggling by 3-DOF manipulators using adaptive PSO algorithm

Published online by Cambridge University Press:  13 December 2013

Adel Akbarimajd
Adel Akbarimajd*
Affiliation:
Electrical Engineering Department, Faculty of Electromechanics, University of Mohaghegh Ardabili, Ardabil, Iran
*
*Corresponding author. E-mail: akbarimajd@uma.ac.ir
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Summary

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Three-DOF manipulators were employed for juggling of polygonal objects in order to have full control over object's configuration. Dynamic grasp condition is obtained for the instances that the manipulators carry the object on their palms. Manipulation problem is modeled as a nonlinear optimal control problem. In this optimal control problem, time of free flight is used as a free parameter to determine throw and catch times. Cost function is selected to get maximum covered horizontal distance using minimum energy. By selecting third-order polynomials for joint motions, the problem is changed to a constrained parameter selection problem. Adaptive particle swarm optimization method is consequently employed to solve the optimization problem. Effectiveness of the optimization algorithm is verified by a set of simulations in MSC. ADAMS.

Keywords

Dynamic object manipulationDynamic graspDynamic catchMultirobot object manipulationNonlinear optimizationAdaptive PSO algorithm

Information

Type
Articles
Information
Robotica , Volume 32 , Issue 6 , September 2014, pp. 967 - 984
Copyright
Copyright © Cambridge University Press 2013 

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