V. Tawiwat and P. Jumnong
Combining Minimum Energy and Minimum Direct Jerk of Linear Dynamic Systems
1218 - 1223
2008
2
11
International Journal of Mechanical and Mechatronics Engineering
https://publications.waset.org/pdf/7684
https://publications.waset.org/vol/23
World Academy of Science, Engineering and Technology
Both the minimum energy consumption and
smoothness, which is quantified as a function of jerk, are generally
needed in many dynamic systems such as the automobile and the
pickandplace robot manipulator that handles fragile equipments.
Nevertheless, many researchers come up with either solely
concerning on the minimum energy consumption or minimum jerk
trajectory. This research paper proposes a simple yet very interesting
when combining the minimum energy and jerk of indirect jerks
approaches in designing the timedependent system yielding an
alternative optimal solution. Extremal solutions for the cost functions
of the minimum energy, the minimum jerk and combining them
together are found using the dynamic optimization methods together
with the numerical approximation. This is to allow us to simulate
and compare visually and statistically the time history of state inputs
employed by combining minimum energy and jerk designs. The
numerical solution of minimum direct jerk and energy problem are
exactly the same solution; however, the solutions from problem of
minimum energy yield the similar solution especially in term of
tendency.
Open Science Index 23, 2008