Steepest descent optimisation in the secondary space of redundant manipulators

Informatica (Ljubljana)

Volumn 21, Issue 4, 1997, Pages 651-655

  Lenarĉiĉ, Jadran ^a   Nemec, Bojan ^a  

^a JO EF STEFAN INSTITUTE   (Slovenia)

Author keywords

Optimum step size; Redundant manipulators; Steepest descent optimisation

Indexed keywords

DEGREES OF FREEDOM (MECHANICS); ITERATIVE METHODS; OPTIMIZATION; REDUNDANCY;

STEEPEST DESCENT OPTIMIZATION;

MANIPULATORS;

EID: 0031272759     PISSN: 03505596     EISSN: None     Source Type: Journal    
DOI: None     Document Type: Article

References (21)

1. Maciejewski, A.A., Klein, C.A. (1985) Obstacle avoidance for kinematically redundant manipulators in dynamically varying environments, Int. J.Robotics Res. Vol. 4, No. 4, pp. 109-117.
2. Baker, D.R., Wampler, C.W. (1988) On the inverse kinematics of redundant manipulators, Int. J.Robotics Res., Vol. 7, No. 2, pp. 3-21.
3. Chang, K.-S., Khatib, O. (1994) A dynamically consistent strategy for manipulator control at singularities, Advances in Robot Kinematics, Kluwer Academic Publ., Dordrecht, pp. 221-228.
4. Nakamura, Y., Hanafusa, H., Yoshikawa, T. (1987) Task-priority based redundancy control of robot manipulators, Int. J.Robotics Res., Vol. 6, No. 2, pp. 3-15.
5. Ghosal, A., Roth, B. (1988) A new approach for kinematic resolution of redundancy, Int. J.Robotics Res., Vol. 7, No. 2, pp. 22-35.
6. Nenchev, D.N. (1989) Redundancy resolution through local optimisation: A review, Int. J. Robotic Systs., Vol. 6, No. 6, pp. 769-798.
7. Hollerbach, J.M., Suh, K.C. (1987) Redundancy resolution of manipulators through torque optimization, IEEE J. Robotics and Automat., Vol. 3, No. 4, pp. 308-316.
8. Yoshikawa, T.(1996) Basic optimization methods of redundant manipulators, Laboratory Robotics and Automat., Vol. 8, No. 1, pp. 49-60.
9. Khatib, O. (1996) The impact of redundancy on the dynamic performance of robots, Laboratory Robotics and Automat., Vol. 8, No. 1, pp. 37-48.
10. Nedungadi, A. Kazerounian, K. A (1989) local solution with global characteristics for joint torque optimisation of a redundant manipulator, J.Robotic Systs., Vol.6, No. 5., pp. 631-654.
11. Kazerounian, K., Wang, Z. (1988) Global versus local optimization in redundancy resolution of robotic manipulators, J. Robotics Res., Vol. 7, No. 5, pp. 3-13.
12. Hu, B., Teo, C.L., Lee, H.P. (1995) Local optimization of weighted joint torques for redundant robotic manipulators, IEEE Trans. on Robotics and Automat., Vol. 11, No. 3, pp. 422-425.
13. Baillieul, (1986) J. Avoiding obstacles and resolving kinematic redundancy, IEEE Int. Conf. Robotics and Automat., pp. 1698-1704.
14. Klein, C.A., Chu-Jenq, C., Ahmed, S. (1995) A new formulation of the extended Jacobian method and its use in mapping algorithmic singularities for kinematically redundant manipulators, IEEE Trans. on Robotics and Automat., Vol. 11, No. 1, pp. 50-55.
15. Park, J., Chung, W.-K., Youm, Y. (1996) Characteristics of optimal solutions in kinematic resolutions of redundancy, IEEE Trans. on Robotics and Automat., Vol. 12, No. 3, pp. 471-478.
16. Whitney, D.E. (1969) Resolved motion rate control of robot manipulators and human prostheses, IEEE Trans. Man-Mach. Sys., Vol. 10, No. 2, pp. 47-53.
17. Liegois, A. (1977) Automatic supervisory control of the configuration and behaviour of multibody mechanisms, IEEE Trans. Sys., Man, Cybern., Vol. 7, No. 12, pp. 868-871.
18. Yoshikawa, (1985) T. Manipulability of robotic systems, Int. J. Robotics Res., Vol. 4, No. 2, pp. 3-9.
19. Doty, K.L., Melchiorri, C., Schwartz, E.M., Bonivento, C. (1995) Robot Manipulability, IEEE Trans. on Robotics and Automat., Vol. 11, No. 3, pp. 462-468.
20. Nenchev, D.N. (1992) Restricted Jacobian matrices of redundant manipulators in constrained motion tasks, Int. J. Robotics Res., Vol. 11, No. 6, pp. 584-597.
21. Maciejewski, A.A. (1991) Kinetic limitations on the use of redundancy in robotic manipulators, IEEE Trans. on Robotics and Automat., Vol. 7, No. 2, pp. 205-210.