scholarly journals Optimal Point-to-Point Trajectory Tracking of Redundant Manipulators using Generalized Pattern Search

10.5772/5781 ◽  
2005 ◽  
Vol 2 (3) ◽  
pp. 24 ◽  
Author(s):  
Atef A. Ata ◽  
Thi Rein Myo
Keyword(s):  
Genetic Algorithm ◽  
Optimal Trajectory ◽  
Pattern Search ◽  
Redundant Manipulators ◽  
Redundant Manipulator ◽  
Optimal Point ◽  
Intermediate Point ◽  
End Effector ◽  
Generalized Pattern Search ◽  
Point To Point

Optimal point-to-point trajectory planning for planar redundant manipulator is considered in this study. The main objective is to minimize the sum of the position error of the end-effector at each intermediate point along the trajectory so that the end-effector can track the prescribed trajectory accurately. An algorithm combining Genetic Algorithm and Pattern Search as a Generalized Pattern Search GPS is introduced to design the optimal trajectory. To verify the proposed algorithm, simulations for a 3-D-O-F planar manipulator with different end-effector trajectories have been carried out. A comparison between the Genetic Algorithm and the Generalized Pattern Search shows that The GPS gives excellent tracking performance.

Motion Planning for a Redundant Manipulator Using Genetic Algorithm

2011 ◽  
Vol 467-469 ◽  
pp. 782-787 ◽  
Author(s):  
S. Parasuraman ◽  
Chiew Mun Hou ◽  
V. Ganapathy
Keyword(s):  
Genetic Algorithm ◽  
Trajectory Planning ◽  
Collision Detection ◽  
Angular Displacement ◽  
Joint Space ◽  
Redundant Manipulators ◽  
Evaluation Function ◽  
Redundant Manipulator ◽  
End Effector ◽  
Total Displacement

The trajectory planning of redundant manipulator is key areas of research, which require efficient optimization algorithms. This paper presents a new method that combines multiple objectives for trajectory planning and generation for redundant manipulators. The algorithm combines collision detection, finding target and optimizing trajectory using Genetic algorithm. In order to optimize the path, an evaluation function is defined based on multiple criteria, including the total displacement of the end-effector, the total angular displacement of all the joints, as well as the uniformity of Cartesian and joint space velocities. These criteria result in minimized, smooth end-effector motions. These algorithm yields solutions instantaneously and generate the path. The proposed algorithm is analyzed and its performance is demonstrated through simulation and the results are compared with the other methods.

Repeatable Joint Displacement Generation for Redundant Robotic Systems

1994 ◽  
Vol 116 (1) ◽  
pp. 11-16 ◽  
Author(s):  
Y. S. Chung ◽  
M. Griffis ◽  
J. Duffy
Keyword(s):  
Joint Space ◽  
Inverse Kinematic ◽  
Torsional Stiffness ◽  
Numerical Verification ◽  
Redundant Manipulators ◽  
Redundant Manipulator ◽  
Kinematic Equation ◽  
End Effector ◽  
Prismatic Joints ◽  
Cyclic Type

This paper presents a novel, practical, and theoretically sound kinematic control strategy for serial redundant manipulators. This strategy yields repeatability in the joint space of a serial redundant manipulator whose end effector undergoes some general cyclic type motion. This is accomplished by deriving a new inverse kinematic equation that is based on springs being theoretically or conceptually located in the joints of the manipulator (torsional springs for revolute joints, translational springs for prismatic joints). Previous researchers have also derived an inverse kinematic equation for serial redundant manipulators. However, to the authors’ knowledge, the new strategy is the first to include the free angles of torsional springs and the free lengths of translational springs. This is important because it ensures the repeatability in the joint space of a serial redundant manipulator whose end effector undergoes a cyclic type motion. Numerical verification for repeatability is done in terms of Lie bracket condition. Choices for the free angle and torsional stiffness of a joint (or the free length and translational stiffness) are made based upon the mechanical limits of the joint.

Trajectory Generation for Redundant Manipulator using Virus-Evolutionary Genetic Algorithm with Subpopulations

1997 ◽  
Vol 1 (2) ◽  
pp. 155-161
Author(s):  
Takemasa Arakawa ◽  
◽  
Toshio Fukuda ◽  
Naoyuki Kubota ◽  
Keyword(s):  
Genetic Algorithm ◽  
Genetic Information ◽  
Energy Optimization ◽  
Trajectory Generation ◽  
Redundant Manipulators ◽  
Redundant Manipulator ◽  
Theory Of Evolution ◽  
Evolutionary Genetic ◽  
Generation Problem ◽  
Virus Theory

In this paper, we apply a virus-evolutionary genetic algorithm with subpopulations (VEGAS) to a trajectory generation problem for redundant manipulators through energy optimization. VEGAS is based on the virus theory of evolution and VEGAS has some subpopulations that usually evolve independently. In the same subpopulation, a virus infects host individuals. And a virus sometimes immigrates from one subpopulation to another. The genetic information from one subpopulation propagates in another subpopulation only through immigration of the virus. The energy-optimized collision-free trajectory was found successfully using VEGAS.

Stabilized minimum infinity-norm torque solution for redundant manipulators

Robotica ◽  
1998 ◽  
Vol 16 (2) ◽  
pp. 193-205 ◽  
Author(s):  
Ick-Chan Shim ◽  
Yong-San Yoon
Keyword(s):  
Dynamic Control ◽  
Inequality Constraint ◽  
Redundant Manipulators ◽  
Redundant Manipulator ◽  
End Effector ◽  
Joint Torques ◽  
Infinity Norm ◽  
Instability Problem ◽  
Geometrical Relation ◽  
Feasibility Constraint

The minimization of the joint torques based on the ∞-norm is proposed for the dynamic control of a kinematically redundant manipulator. The ∞-norm is preferred to the 2-norm in the minimization of the joint torques since the maximum torques of the actuators are limited. To obtain the minimum ∞-norm torque solution, we devised a new algorithm that uses the acceleration polyhedron representing the end-effector's acceleration capability. Usually the minimization of the joint torques has an instability problem for the long trajectories of the end-effector. To suppress this instability problem, an inequality constraint, named the feasibility constraint, is developed from the geometrical relation between the required end-effector acceleration and the acceleration polyhedron. The minimization of the °-norm of the joint torques subject to the feasibility constraint is shown to improve the performances through the simulations of a 3-link planar redundant manipulator.

A new motion planning method for discretely actuated hyper-redundant manipulators

Robotica ◽  
2015 ◽  
Vol 35 (1) ◽  
pp. 101-118 ◽  
Author(s):  
Alireza Motahari ◽  
Hassan Zohoor ◽  
Moharam Habibnejad Korayem
Keyword(s):  
Genetic Algorithm ◽  
Motion Planning ◽  
Trajectory Tracking ◽  
Inverse Kinematic ◽  
Planning Problem ◽  
Redundant Manipulators ◽  
Tracking Problem ◽  
Parallel Mechanisms ◽  
Redundant Manipulator ◽  
The Common

SUMMARYA hyper-redundant manipulator is made by mounting the serial and/or parallel mechanisms on top of each other as modules. In discrete actuation, the actuation amounts are a limited number of certain values. It is not feasible to solve the kinematic analysis problems of discretely actuated hyper-redundant manipulators (DAHMs) by using the common methods, which are used for continuous actuated manipulators. In this paper, a new method is proposed to solve the trajectory tracking problem in a static prescribed obstacle field. To date, this problem has not been considered in the literature. Theremoving first collision(RFC) method, which is originally proposed for solving the inverse kinematic problems in the obstacle fields was modified and used to solve the motion planning problem. For verification, the numerical results of the proposed method were compared with the results of thegenetic algorithm(GA) method. Furthermore, a novel DAHM designed and implemented by the authors is introduced.

Dynamic Performance and Modular Design of Redundant Macro-/Minimanipulators

2008 ◽  
Vol 130 (9) ◽  
Author(s):  
Alan P. Bowling ◽  
Oussama Khatib
Keyword(s):  
Task Performance ◽  
Modular Design ◽  
Dynamic Performance ◽  
Dynamic Capability ◽  
Redundant Manipulators ◽  
Redundant Manipulator ◽  
End Effector ◽  
Analysis And Design ◽  
Inertia Ellipsoid ◽  
Six Degree Of Freedom

This paper presents methodologies for the analysis and design of redundant manipulators, especially macro-/ministructures, for improved dynamic performance. Herein, the dynamic performance of a redundant manipulator is characterized by the end-effector inertial and acceleration properties. The belted inertia ellipsoid is used to characterize inertial properties, and the recently developed dynamic capability equations are used to analyze acceleration capability. The approach followed here is to design the ministructure to achieve the task performance and then to design the macrostructure to support and complement the ministructure, referred to here as modular design. The methodology is illustrated in the design of a six-degree-of-freedom planar manipulator.

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