RESEARCH PAPERS: Mechanisms Papers

An Efficient Algorithm for Global Optimization in Redundant Manipulations

[+] Author and Article Information
Z. Wang, K. Kazerounian

Mechanical Engineering Department, University of Connecticut, Storrs, CT 06269-3139

J. Mech., Trans., and Automation 111(4), 488-493 (Dec 01, 1989) (6 pages) doi:10.1115/1.3259026 History: Received March 01, 1988; Online November 19, 2009


A method is developed to resolve the redundancy of serial robotic manipulators. The main characteristics of this method are as follows: (a) The solution is conservative (unique); (b) It globally (over the task period) optimizes the objective function; (c) It is computationally very fast. In fact, it is about three orders of magnitude faster than solving for the exact boundary value problem.

Copyright © 1989 by ASME
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