Planification des trajectoires optimales pour les robots manipulateurs dans des taches imposées

Abstract

Planning trajectories of a robot manipulator leads to equations of motion that are often difficult to solve, so we proceeded to the modeling of robot manipulators that includes the following models: the geometric model, the kinematic model and dynamic model.For this purpose, we approach modeling a robot type and method cubic spline path planning with two examples of a 2R robot. The goal is to find an optimal path minimizing the instance the time of completion of the stain and α weighting factor and for the second example is minimized only the time to achieve the task, respecting the two examples kinematic and dynamic constraints of the robot manipulator 2R. 1st Two software SolidWorks and MATLAB are used to obtain the optimal trajectories of the two examples that verify the kinematic and dynamic constraints of the robot manipulator, to put the relevance of the studied model and make the appropriate conclusions