TY - GEN
T1 - Minimum-jerk trajectory generation and global optimal control for permanent magnet spherical actuator
AU - Liu, Jingmeng
AU - Cai, Shaoxiong
AU - Chen, Weihai
AU - Chen, I. Ming
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/7/2
Y1 - 2017/7/2
N2 - The study in this paper covers minimum-jerk trajectory generation and global optimal control for the Permanent Magnet Spherical Actuator(PMSA). The generated trajectory is guaranteed to minimize the end-actuator jerk in order to improve the smoothness and stability of rotor motions. A novel three-dimensional Euclidean space orientation representation method based on Rotation group SO(3) is proposed to promote the trajectory generation of the rotor. A union of dynamics and inverse torque model is well established and then global optimal control algorithm is developed to improve trajectory tracking ability without excessive control-energy expenditure. To verify the effectiveness and robustness of the proposed algorithm, simulations and experiments are conducted on the spherical actuator. The results indicate that by using minimum-jerk trajectory generation, a union of dynamics and inverse torque model, and the global optimal control can be supplied into the spherical actuator to achieve ideal motions performance.
AB - The study in this paper covers minimum-jerk trajectory generation and global optimal control for the Permanent Magnet Spherical Actuator(PMSA). The generated trajectory is guaranteed to minimize the end-actuator jerk in order to improve the smoothness and stability of rotor motions. A novel three-dimensional Euclidean space orientation representation method based on Rotation group SO(3) is proposed to promote the trajectory generation of the rotor. A union of dynamics and inverse torque model is well established and then global optimal control algorithm is developed to improve trajectory tracking ability without excessive control-energy expenditure. To verify the effectiveness and robustness of the proposed algorithm, simulations and experiments are conducted on the spherical actuator. The results indicate that by using minimum-jerk trajectory generation, a union of dynamics and inverse torque model, and the global optimal control can be supplied into the spherical actuator to achieve ideal motions performance.
UR - https://www.scopus.com/pages/publications/85050037859
U2 - 10.1109/ROBIO.2017.8324753
DO - 10.1109/ROBIO.2017.8324753
M3 - 会议稿件
AN - SCOPUS:85050037859
T3 - 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
SP - 2249
EP - 2254
BT - 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
Y2 - 5 December 2017 through 8 December 2017
ER -