Direct Search Based Strategy for Obstacle Avoidance of a Redundant Manipulator
Journal Title: Analele Universitatii "Eftimie Murgu" Resita. Fascicula de Inginerie - Year 2010, Vol 17, Issue 1
Abstract
This paper presents an iterative direct search based strategy for redundancy resolution. The end-effector of the redundant manipulator achieves the imposed task of following the contour of a curve, while fulfilling two other performance criteria: obstacle avoidance and minimization of the sum of joint displacements. The objective function to minimize is the sum of joint displacements, while the obstacle avoidance and end-effector task are expressed as non-linear constraints. The proposed direct search based strategy is iterative; the joint configura-tion computed in the previous step represents the current point around which the generalized pattern search algorithm is successfully performed.
Authors and Affiliations
Cornel SECARA, Dan DUMITRIU
Keywords
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