Optimal trajectory planning with dynamic load carrying capacity of cable-suspended manipulator

Abstract. This paper presents an indirect method for computing optimal trajectory, subject to robot dynamics, 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 eectiveness of this indirect method