THE INFLUENCE OF THE INITIAL JOINT CONFIGURATION ON THE REDUNDANCY RESOLUTION USING SEARCH METHODS
Journal Title: ROMANIAN JOURNAL OF TECHNICAL SCIENCES - APPLIED MECHANICS - Year 2010, Vol 55, Issue 3
Abstract
The redundancy problem concerns here a serial planar redundant manipulator with four degrees of freedom. More precisely, the end-effector of this redundant manipulator must achieve the imposed task of following the contour of a curve (e.g., the contour of a circle), while fulfilling two other performance criteria: obstacle avoidance and minimization of a cost function, i.e., a weighted sum of all joint displacements. Numerically, this is a nonlinear optimization problem with nonlinear constraints. Based on Bellman’s principle of optimality, the global optimization is divided into a sequence of local optimizations. These local, sequential optimizations are performed using two search methods, i.e., genetic algorithm and direct search. The influence of the initial joint configuration on the cost function minimization is analyzed, in order to find the optimal initial joint configuration.
Authors and Affiliations
Dan DUMITRIU, Cornel SECARĂ
Keywords
Related Articles
- EP ID EP145111
- DOI -
- Views 65
- Downloads 0
ASYMMETRICAL COLD STRIP ROLLING. A NEW ANALYTICAL APPROACH
In this paper is given a solution of asymmetrical strip rolling problem using a Bingham type constitutive equation and the perturbation method. Rolling pressure distribution, rolling force, rolling torque, front tension,...
CONFERENCE REPORT: XXVIIIth ANNUAL SYMPOSIUM OF THE INSTITUTE OF SOLID MECHANICS SISOM 2017 AND SYMPOSIUM OF ACOUSTICS, BUCHAREST, MAY 18–19, 2017
The XXVIIIth Annual Symposium of the Institute of Solid Mechanics SISOM 2017 and Symposium of Acoustics was held in Bucharest, from 18 to 19 May 2017. The general website of this symposium is: http://www.imsar.ro/html/_s...
CHECKING ROBUSTNESS FOR A CONCRETE ROADWAY VIADUCT
Experts’ pursuits in constructions are connected now with the structural robustness’ notions and how to prevent the partial, full or disproportioned collapse. The question: “What is robustness?” has by far no unitary and...
A NATURAL SONIC COMPOSITE – THE ATMOSPHERE
The atmosphere represents a natural sonic composite exhibiting the full band-gaps and localized modes around inhomogeneities given by the wind-velocity jumps. The paper analyses a barometric model including inhomogeneiti...
THE OPTIMIZATION OF FULL BAND-GAPS IN MULTILAYER FILMS
The multilayer films are consisted of alternating layers of material with different mechanical properties, following a triadic Cantor sequence. The extremely low thresholds for subharmonic generation of ultrasonic waves...