OPTIMAL CONTROL OF ROBOTIC ARM MOVEMENT INVOLVING CORIOLIS, CENTRIFUGAL AND GRAVITATIONAL FORCES
1Ronal Matsura, *Said Munzir, Zahnur , Reza Wafdan, Vera Halfiani
This paper discusses the optimal control solution of the robotic arm model involving coriolis, setrifugal, and gravitational forces. The interaction of these three forces forms the basis of this research. The robot movement model is modifications of the Geise optimal control model which only minimizes time. In this study, the model minimizes time and energy. Given object's coordinates converted into polar coordinates that indicate the final position of the robotic arm. Some tests by adding regularization are carried out to check whether the chosen objective function is correct and produces a stable solution. The optimal solution is determined using a numerical approach through discretizing the dynamic model of the robotic arm as well as the objective of the optimal control by using the Pseudo Spectral Method (PSM). The results show that the model uses less energy than the Geise model does. Robotic arms having arm twice as long can hamper the movement of the robotic arm to reach the destination point. Therefore, it takes longer in time and uses more energy than robotic arms that have normal arm lengths.
Optimal control, polar robot, robot movement, robotic arm, Pseudo Spectral Method