Naslov
On Motion Optimization of Robotic Manipulators with Strong Nonlinear Dynamic Coupling Using Support Area Level Set Algorithm

Autori
Li, Z. ; Yang, K. ; Bogdan, Stjepan ; Bugong, Xu

Izvornik
International journal of control automation and systems (1598-6446) 11 (2013), 6; 1266-1275

Vrsta, podvrsta i kategorija rada
Radovi u časopisima, članak, znanstveni

Ključne riječi
Robotic Manipulators; Optimization; Nonlinear Dynamics

Sažetak
Aiming for a better dynamic performance from the robot beyond the physical limits set by the manufacturers, in this paper we propose to integrate the robot dynamics into motion planning and then to approximate the robot joint torques using parameterized B-splines. By introducing a high-dimensional non-linear fitness function, we transform the motion planning problem into an optimization of a non-linear fitness function, and then we develop the approach based on Support Area Level Set Algorithm (SALAS). It integrates dual-stage sampling strategies to avoid early convergence in a small search field and to improve the rate of convergence to the potential solution. The effectiveness of the proposed approach has been verified by the simulation of a two-link robotic manipulator.

Izvorni jezik
Engleski

Znanstvena područja
Temeljne tehničke znanosti

POVEZANOST RADA