Single and multi-objective optimization of path placement for redundant robotic manipulators
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| Natura: | Artículo científico |
| Lingua: | en |
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Universidad Nacional Autónoma de México
2008
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| _version_ | 1876449026175401984 |
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| author | J.A. Pamanes García |
| author_facet | J.A. Pamanes García |
| contents | Single and multi-objective optimization of path placement for redundant robotic manipulators J.A. Pamanes García E. Cuan Durón S. Zeghloul Ingeniería Optimization path placement motion planning redundant manipulators kinematic performances General formulations are presented in this paper to determine the best position and orientation of a desired path to be followed by a redundant manipulator. Two classes of problem are considered. In the first, a single manipulator is index of kinematic performance associated to one path point must be im proved as much as possible. In the second case distinct indices of kinematic performance, corresponding to different points ofthe path, are to be optimized. Constraints are taken into account in order to guarantee the accessibility to the whole de sired task. Several case studies are presented to illustrate the effectiveness of the method for planar and spatial manipulators. 2008 artículo científico 1405-7743 https://www.redalyc.org/articulo.oa?id=40490304 en http://www.redalyc.org/revista.oa?id=404 Ingeniería. Investigación y Tecnología application/pdf Universidad Nacional Autónoma de México Ingeniería. Investigación y Tecnología (México) Num.3 Vol.IX |
| format | Artículo científico |
| id | redalyc_40490304 |
| institution | Redalyc |
| language | en |
| publishDate | 2008 |
| publisher | Universidad Nacional Autónoma de México |
| spellingShingle | Single and multi-objective optimization of path placement for redundant robotic manipulators J.A. Pamanes García Ingeniería Optimization path placement motion planning redundant manipulators kinematic performances Single and multi-objective optimization of path placement for redundant robotic manipulators J.A. Pamanes García E. Cuan Durón S. Zeghloul Ingeniería Optimization path placement motion planning redundant manipulators kinematic performances General formulations are presented in this paper to determine the best position and orientation of a desired path to be followed by a redundant manipulator. Two classes of problem are considered. In the first, a single manipulator is index of kinematic performance associated to one path point must be im proved as much as possible. In the second case distinct indices of kinematic performance, corresponding to different points ofthe path, are to be optimized. Constraints are taken into account in order to guarantee the accessibility to the whole de sired task. Several case studies are presented to illustrate the effectiveness of the method for planar and spatial manipulators. 2008 artículo científico 1405-7743 https://www.redalyc.org/articulo.oa?id=40490304 en http://www.redalyc.org/revista.oa?id=404 Ingeniería. Investigación y Tecnología application/pdf Universidad Nacional Autónoma de México Ingeniería. Investigación y Tecnología (México) Num.3 Vol.IX |
| title | Single and multi-objective optimization of path placement for redundant robotic manipulators |
| topic | Ingeniería Optimization path placement motion planning redundant manipulators kinematic performances |
| url | https://www.redalyc.org/articulo.oa?id=40490304 |