Hostname: page-component-cd9895bd7-q99xh Total loading time: 0 Render date: 2024-12-27T11:25:04.324Z Has data issue: false hasContentIssue false
  • English
  • Français

Convergence properties of gradient-based numerical motion-optimizations for manipulator arms amid static or moving obstacles

Published online by Cambridge University Press:  15 November 2004

Jong-keun Park
Jong-keun Park
Affiliation:
Dept. Mechanical and Automation Engr., Kyungnam University, Masan 631-701 (South Korea) E-mail: jkpark@kyungnam.ac.kr
Get access Rights & Permissions [Opens in a new window]

Abstract

This paper demonstrates the convergence stability and the actual usefulness of the gradient-based motion optimizations for manipulator arms. An optimal motion-planning problem is converted into a finite-dimensional nonlinear programming problem that utilizes cubic or quintic B-splines as basis functions. This study shows that the numerically calculated gradient is a useful tool in finding minimum torque, minimum energy, minimum overload, and minimum time motions for manipulator arms in the presence of static or moving obstacles. A spatial 6-link manipulator is simulated without simplifying any of the kinematic, dynamic or geometric properties of the manipulator or obstacles.

Keywords

Optimal motionRobot manipulatorNonlinear programmingQuasi-Newton methodPenetration growth distance
Type
Research Article
Information
Robotica , Volume 22 , Issue 6 , November 2004 , pp. 649 - 659
Copyright
© 2004 Cambridge University Press

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)