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

ESTIMATION OF OUT OF PLANE SHEAR MODULI FOR HONEYCOMB CORES WITH MODAL FINITE ELEMENT ANALYSES

The main problem in analyzing honeycomb structures is the substantial computational effort that has to be spent in modelling and analyzing such a structure with a multi-cell construction core by maintaining the actual ge...

THE MECHANISM OF THE PROSTHESIS FOR UPPER HUMAN LIMB – MAIN ASPECTS REGARDING: SINTHESIS, ANALYSIS, DESIGN AND FUNCTIONAL SIMULATION

This paper describes the main stages of structural and cinematic synthesis and analysis, design and functional simulation regarding the mechanism of the human hand prosthesis. For the structural scheme, one uses three pi...

DYNAMIC STUDY OF AN ELASTIC SYSTEM WITH TWO DEGREES OF FREEDOM

In the paper is presented the dynamic survey of an elastic mechanical system which consists of two rigid solids linked to each other by a cylindrical joint. One of the two rigid solids is linked through an elastic linear...

EVALUATION OF VIBRATING COMPACTION PROCESS FOR FRESH CONCRETE

This paper is focused on the research performed upon the dynamic model for vibrating compaction of the placed fresh concrete. The influence of the internal viscosity factor changing upon the internal energy dissipated du...

HOT AIR ENGINE, DEVELOPED AND PATENTED BY TRAIAN VUIA, A ROMANIAN PERFORMANCE FOR 21st CENTURY

After thoroughly researching data from national archives, libraries, and important technical studies from Romania and abroad, I concluded that the hot air and closed-circuit engine built, tested, and patented by Romanian...

Download PDF file
  • EP ID EP145111
  • DOI -
  • Views 86
  • Downloads 0

How To Cite

Dan DUMITRIU, Cornel SECARĂ (2010). THE INFLUENCE OF THE INITIAL JOINT CONFIGURATION ON THE REDUNDANCY RESOLUTION USING SEARCH METHODS. ROMANIAN JOURNAL OF TECHNICAL SCIENCES - APPLIED MECHANICS, 55(3), 195-210. https://europub.co.uk./articles/-A-145111