DocumentCode
3227374
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
fYear
1991
fDate
9-11 Apr 1991
Firstpage
939
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on
Conference_Location
Sacramento, CA
Print_ISBN
0-8186-2163-X
Type
conf
DOI
10.1109/ROBOT.1991.131709
Filename
131709
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