Title :
Efficient global redundant configuration resolution via sub-energy tunneling and terminal repelling
Author :
Burdick, Joel W. ; Cetin, B.C. ; Barhen, Jacob
Author_Institution :
California Inst. of Technol., Pasadena, CA, USA
Abstract :
A method for the global configuration resolution for kinematically redundant manipulators is presented. This method is based on an efficient global optimization algorithm which uses a sub-energy tunneling function and terminal repellers. This optimization algorithm is reviewed, and its specialization to redundancy resolution is developed. Applications of this method and comparisons to null-space projection are presented
Keywords :
kinematics; optimisation; redundancy; robots; global optimization; global redundant configuration resolution; kinematically redundant manipulators; null-space projection; sub-energy tunneling; terminal repelling; Cost function; Energy resolution; Jacobian matrices; Kinematics; Laboratories; Manipulators; Mechanical factors; Propulsion; Trajectory; Tunneling;
Conference_Titel :
Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on
Conference_Location :
Sacramento, CA
Print_ISBN :
0-8186-2163-X
DOI :
10.1109/ROBOT.1991.131709
