Path planning for redundant robot manipulators: a global optimization approach using evolutionary search
Global optimization approaches to path planning for kinematically redundant manipulators, involving the optimization of integral cost criteria have been shown to exhibit certain advantages compared with local optimizers based on instantaneous criteria. We present some initial results of an approxima...
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| creator | Sullivan, J.C.W. Pipe, A.G. |
| description | Global optimization approaches to path planning for kinematically redundant manipulators, involving the optimization of integral cost criteria have been shown to exhibit certain advantages compared with local optimizers based on instantaneous criteria. We present some initial results of an approximation approach based on the direct search evolution strategy paradigm with specific modifications to encourage discovery of global optima and to explore in spaces with non-simply-connected topologies. In our problem formulation the path of the end effector is unconstrained, except at the end points, and consequently there exist an infinite number of possible hand paths, from which we seek that which gives the global minimum of an integral squared jerk cost functional. |
| doi_str_mv | 10.1109/ICSMC.1998.725015 |
| format | Conference Proceeding |
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In our problem formulation the path of the end effector is unconstrained, except at the end points, and consequently there exist an infinite number of possible hand paths, from which we seek that which gives the global minimum of an integral squared jerk cost functional.</description><subject>Constraint optimization</subject><subject>Cost function</subject><subject>Intelligent robots</subject><subject>Intelligent systems</subject><subject>Kinematics</subject><subject>Manipulators</subject><subject>Optimization methods</subject><subject>Path planning</subject><subject>Space exploration</subject><subject>Topology</subject><issn>1062-922X</issn><issn>2577-1655</issn><isbn>9780780347786</isbn><isbn>0780347781</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>1998</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNotkFtLxDAQhYMXcF33B-hTnnzrmkvbJL5J8QYrCir4VtJ2so20TU1SQX-9XVYYOAzn43BmEDqnZE0pUVePxetTsaZKybVgGaHZAVqwTIiE5ll2iFZKSDIPT4WQ-RFaUJKzRDH2cYJOQ_gkhJGUygVqX3Rs8djpYbDDFhvnsYdmGho9ROxd5SLu9WDHqdPR-XCNNd52rtIddmO0vf3V0boB63H0TtctnsIuBr5dN-0M7X9wAO3r9gwdG90FWP3rEr3f3b4VD8nm-f6xuNkklvIsJloJIwhIQVKd8pxwSIE0lTBUzltDeMWbijJe1ZUxoFQulMlrQ6ExNAVF-RJd7nPnQl8ThFj2NtTQzReCm0LJckGlZGwGL_agBYBy9Lafy5b7Z_I_wwxpPA</recordid><startdate>1998</startdate><enddate>1998</enddate><creator>Sullivan, J.C.W.</creator><creator>Pipe, A.G.</creator><general>IEEE</general><scope>6IE</scope><scope>6IH</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIO</scope><scope>7SC</scope><scope>8FD</scope><scope>JQ2</scope><scope>L7M</scope><scope>L~C</scope><scope>L~D</scope></search><sort><creationdate>1998</creationdate><title>Path planning for redundant robot manipulators: a global optimization approach using evolutionary search</title><author>Sullivan, J.C.W. ; Pipe, A.G.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-i135t-a97f70e8704a43603e4e0db7f18360d03b3db123bcbffe99679f6cf1edf14e913</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>1998</creationdate><topic>Constraint optimization</topic><topic>Cost function</topic><topic>Intelligent robots</topic><topic>Intelligent systems</topic><topic>Kinematics</topic><topic>Manipulators</topic><topic>Optimization methods</topic><topic>Path planning</topic><topic>Space exploration</topic><topic>Topology</topic><toplevel>online_resources</toplevel><creatorcontrib>Sullivan, J.C.W.</creatorcontrib><creatorcontrib>Pipe, A.G.</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan (POP) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP) 1998-present</collection><collection>Computer and Information Systems Abstracts</collection><collection>Technology Research Database</collection><collection>ProQuest Computer Science Collection</collection><collection>Advanced Technologies Database with Aerospace</collection><collection>Computer and Information Systems Abstracts Academic</collection><collection>Computer and Information Systems Abstracts Professional</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Sullivan, J.C.W.</au><au>Pipe, A.G.</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Path planning for redundant robot manipulators: a global optimization approach using evolutionary search</atitle><btitle>Conference proceedings - IEEE International Conference on Systems, Man, and Cybernetics</btitle><stitle>ICSMC</stitle><date>1998</date><risdate>1998</risdate><volume>3</volume><spage>2396</spage><epage>2400 vol.3</epage><pages>2396-2400 vol.3</pages><issn>1062-922X</issn><eissn>2577-1655</eissn><isbn>9780780347786</isbn><isbn>0780347781</isbn><abstract>Global optimization approaches to path planning for kinematically redundant manipulators, involving the optimization of integral cost criteria have been shown to exhibit certain advantages compared with local optimizers based on instantaneous criteria. 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| ispartof | Conference proceedings - IEEE International Conference on Systems, Man, and Cybernetics, 1998, Vol.3, p.2396-2400 vol.3 |
| issn | 1062-922X 2577-1655 |
| language | eng |
| recordid | cdi_ieee_primary_725015 |
| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | Constraint optimization Cost function Intelligent robots Intelligent systems Kinematics Manipulators Optimization methods Path planning Space exploration Topology |
| title | Path planning for redundant robot manipulators: a global optimization approach using evolutionary search |
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