3링크 모바일 매니퓰레이터의 질량중심을 고려한 미분 동적 프로그래밍 기반 궤적 생성 알고리즘
Trajectory Generation Algorithm Based on Differential Dynamic Programming Considering Center of Mass for a 3-Link Mobile Manipulator
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This paper presents a trajectory generation algorithm for a 3-link mobile manipulator system using Differential Dynamic Programming (DDP), with an emphasis on center of mass (COM) control. The proposed method addresses stability challenges arising from the interaction between the manipulator’s COM and the system’s overall COM. By incorporating COM-related constraints into the DDP cost function, the algorithm minimizes joint torques while preserving overall system stability. Two simulation scenarios were conducted to validate the approach: one with a baseline configuration, where the trajectory was generated from the initial posture, and another with an additional payload on the manipulator. The results demonstrate that the proposed algorithm effectively reduces COM deviations and control effort compared to conventional methods, thereby enhancing both stability and energy efficiency.
Abstract
This paper presents a trajectory generation algorithm for a 3-link mobile manipulator system using Differential Dynamic Programming (DDP), with an emphasis on center of mass (COM) control. The proposed method addresses stability challenges arising from the interaction between the manipulator’s COM and the system’s overall COM. By incorporating COM-related constraints into the DDP cost function, the algorithm minimizes joint torques while preserving overall system stability. Two simulation scenarios were conducted to validate the approach: one with a baseline configuration, where the trajectory was generated from the initial posture, and another with an additional payload on the manipulator. The results demonstrate that the proposed algorithm effectively reduces COM deviations and control effort compared to conventional methods, thereby enhancing both stability and energy efficiency.