A Discrete Method for Time-Optimal Path-Planning of Kinematically Redundant Manipulators  

Oleh:

Wu, Chia-Ju ; Lee, Tsong-Li ; Liu, Guan-Yu ; Fan, Han-Tai

Jenis: Article from Article
Dalam koleksi: Final Program and Book of Abstracts: The 4th Asian Control Conference, September 25-27, 2002 (Sep. 2002), page 1578-1583.
Topik: A Discrete Method; Time-Optimal; Path-Planning; Kinematically Redundant Manipulators
Fulltext: AC021251.PDF (129.89KB)

Isi artikel

This paper addresses the time-optimal path-planning (TOPP) problem of kinematically redundant manipulators between two end-points. Different from previous methods, in which one needs to solve a set of differential equations, a discrete method is proposed to solve this problem. The first step is to transform the TOPP problem into a nonlinear programming (NLP) problem by an iterative procedure, in which the sampling period and the control inputs are chosen as variables, and the traveling time is to be minimized. Since it is usually hard to find initial feasible solutions of an NLP problem, a method that combines the concepts of genetic algorithms (GAs) and penalty functions is also proposed. In this manner, the NLP problem can be solved since initial feasible solutions can be generated easily. A planar three-link roboticmanipulator is used to illustrate the validity of the proposed method. Keywords: Time-optimal path-planning, redundant manipulators, NLP, GAs, penalty functions.

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