| 主权项 |
1. A computer-implemented control method for a mobile parallel manipulator (MPM), comprising the steps of:
(a) setting trajectory parameters in an offline dataset, the trajectory parameters including initial and final positions, limits on state components, strut lengths, torques, accelerations, and sampling periods; (b) formulating, off-line, a mathematical description of a constrained optimization problem for trajectory planning of the mobile parallel manipulator (MPM), the mathematical description including:
an energy and time cost minimization function and augmented Lagrange multipliers utilized in an augmented Lagrange decoupling procedure (ALD) to transform the problem into a non-constrained problem, the energy and time cost minimization function including inputs describing:
(i) a moving coordinate system related to self-movement of a base of the MPM relative to a fixed reference frame; and(ii) torques and angular positions of actuators coupled to an end plate of the MPM;an inertia matrix invertibility condition control law specification;a discrete dynamic model approximation using a multi-step Adams-Bashforth predictive-corrective formulation;a stopping criteria, wherein an iterative solution to the optimization problem describes at least one optimized trajectory; (c) saving the at least one optimized trajectory; (d) deriving at least one inverse kinematic solution based on the at least one optimized trajectory, wherein a joint position characterized by coordinates (q1, q2, q3, q4, q5) is found from Cartesian coordinates (x, y, z, φ); (e) formulating, on-line, an optimized forward kinematic solution based on the at least one inverse kinematic solution; (f) transferring to the MPM a resultant trajectory plan based on the optimized forward kinematic solution; and (g) controlling the MPM actuators to constrain the MPM to execute motion consistent with the at least one optimized trajectory so that time, energy, and, alternatively, time and energy of the MPM motion is optimally minimized. |
