THE INFLUENCE OF THE INITIAL JOINT CONFIGURATION ON THE REDUNDANCY RESOLUTION USING SEARCH METHODS
Journal Title: ROMANIAN JOURNAL OF TECHNICAL SCIENCES - APPLIED MECHANICS - Year 2010, Vol 55, Issue 3
Abstract
The redundancy problem concerns here a serial planar redundant manipulator with four degrees of freedom. More precisely, the end-effector of this redundant manipulator must achieve the imposed task of following the contour of a curve (e.g., the contour of a circle), while fulfilling two other performance criteria: obstacle avoidance and minimization of a cost function, i.e., a weighted sum of all joint displacements. Numerically, this is a nonlinear optimization problem with nonlinear constraints. Based on Bellman’s principle of optimality, the global optimization is divided into a sequence of local optimizations. These local, sequential optimizations are performed using two search methods, i.e., genetic algorithm and direct search. The influence of the initial joint configuration on the cost function minimization is analyzed, in order to find the optimal initial joint configuration.
Authors and Affiliations
Dan DUMITRIU, Cornel SECARĂ
Keywords
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