Algorithmic and software tools for parametric optimization of gantry robot motion
DOI:
https://doi.org/10.15407/fmmit2026.42.085Keywords:
портальний робот, дволанковий маніпулятор, оптимальне керування, параметризація законів руху, нелінійне програмування, програмний застосунокAbstract
An algorithm and a software application for the parametric optimization of motion laws for a gantry robot with a two-link manipulator are described. Under the control stimuli (active forces and torques in the joints), the robot performs plane-parallel motion in a vertical plane, executing a transport operation to move a load from a specified initial state to a given final state. The problem of finding optimal controls that ensure the execution of the transport operation while minimizing a given functional is formulated. An algorithm for the approximate solution of the problem is constructed, based on the parameterization of each generalized coordinate of the mechanical system by the sum of a cubic polynomial and a finite trigonometric series with unknown coefficients. The polynomial coefficients are determined from the boundary conditions of the transport operation, while the trigonometric series coefficients are found as a solution to the corresponding nonlinear programming problem. The algorithm is implemented as a software application, through which a series of calculations was conducted. The results of numerical simulation confirmed the effectiveness of the parametric optimization method in problems of optimal motion control for the investigated gantry robot
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