Optimal resolution of kinematical redundancy for endpoint compliance

Author

Tagawa, Kiyoharu ; Haneda, Hiromasa ; Shiraki, Kouichi ; Takami, Hiroki

Author_Institution

Dept. of Electr. & Electron. Eng., Kobe Univ., Japan

Volume

3

fYear

2001

fDate

2001

Firstpage

1730

Abstract

The inverse kinematics of a redundant manipulator are formulated as a constrained optimization problem, where the configuration of the manipulator is optimized in order to achieve a desirable endpoint compliance matrix. Then a global optimization method using the interval analysis is presented for solving the problem. The major virtue of the proposed method is that it guarantees that the global optimum has been found. Experimental results demonstrate the usefulness of the proposed method and also exhibit the best configuration of a redundant manipulator engaged in the peg-in-hole task

Keywords

compliance control; optimisation; redundant manipulators; constrained optimization problem; endpoint compliance; endpoint compliance matrix; global optimization method; interval analysis; inverse kinematics; kinematical redundancy; optimal resolution; peg-in-hole task; redundant manipulator; Cities and towns; Constraint optimization; Equations; Evolutionary computation; Force measurement; Kinematics; Manipulators; Mechanical variables measurement; Newton method; Optimization methods;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics, 2001. Proceedings. ISIE 2001. IEEE International Symposium on

Conference_Location

Pusan

Print_ISBN

0-7803-7090-2

Type

conf

DOI

10.1109/ISIE.2001.931970

Filename

931970