Optimal Trajectory Planning with the Dynamic Load Carrying Capacity of a Flexible Cable-Suspended Manipulator


Department of Mechanical Engineering,Iran University of Science and Technology


This paper presents an indirect method for computing optimal trajectory, subject to robot
exibilities and actuator constraints. One key-issue that arises from mechanism
exibility is
nding the Dynamic Load Carrying Capacity (DLCC). The motion planning problem is rst formulated
as an optimization problem, and then solved using Pontryagin's minimum principle. The basic problem
is converted to the Two-Point Boundary Value Problem (TPBVP), which includes joint
exibility. Some
examples are employed to compare three models, dynamic,
exible joint, and rigid. The results illustrate
the e ectiveness of this indirect method.