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
Related Articles
- EP ID EP145111
- DOI -
- Views 59
- Downloads 0
UNIFIED SLENDERNESS LIMITS FOR STRUCTURAL STEEL CIRCULAR HOLLOW SECTIONS
Circular hollow sections (CHS) are widely used in a range of structural engineering applications. The sections may be hot-finished or cold-formed from a variety of metallic materials with a range of yield strengths. The...
MODÈLE MATRICIEL EN DYNAMIQUE DU ROBOT PARALLÈLE STEWART-GOUGH
L’article établit des relations matricielles itératives d’analyse cinématique et dynamique du robot parallèle Stewart-Gough, schématisé dans l’espace par un réseau de chaînes cinématiques fermées. Sous l’action de six fo...
SOME CONSIDERATIONS REGARDING THE FATIGUE CRACKS PRODUCING PITTING WEAR OF GEARS
In this article some aspects of the fatigue cracks that have the consequence of pitting wear appearance on the spur gears are presented. The main mechanisms leading to the fatigue cracks, crack nucleation, propagation of...
THE OPTIMIZATION OF FULL BAND-GAPS IN MULTILAYER FILMS
The multilayer films are consisted of alternating layers of material with different mechanical properties, following a triadic Cantor sequence. The extremely low thresholds for subharmonic generation of ultrasonic waves...
OPTIMAL AUXILIARY FUNCTIONS METHOD FOR THIN FILM FLOW OF A FOURTH GRADE FLUID DOWN A VERTICAL CYLINDER
A new approximate analytical procedure namely the Optimal Auxiliary Functions Method (OAFM) is proposed and has been applied to thin film flow of a fourth grade fluid down a vertical cylinder. The main advantage of our a...