Inverse kinematics of binary manipulators by using the continuous-variable-based optimization method

IEEE Transactions on Robotics

Volumn 22, Issue 1, 2006, Pages 33-42

  Kim, Yoon Young ^a   Jang, Gang Won ^b   Nam, Sang Jun ^a  

^a Seoul National University   (South Korea)

^b Kunsan National University   (South Korea)

Author keywords

Binary manipulator; Continous variable optimization; Inverse kinematics; Real time simulation

Indexed keywords

ALGORITHMS; CALCULATIONS; COMPUTER SIMULATION; INVERSE KINEMATICS; OPTIMIZATION;

BINARY MANIPULATORS; CONTINOUS VARIABLE OPTIMIZATION; INVERSE KINEMATICS ALGORITHMS; REAL-TIME CALCULATION; REAL-TIME SIMULATION;

MANIPULATORS;

EID: 32644453669     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2005.858864     Document Type: Article

References (22)

1. E. Paljug, T. Ohm, and S. Hayati, "The JPL serpentine robot: A 12 DOF system for inspection," in Proc. IEEE Int. Conf. Robot. Autom., 1995, pp. 3143-3248.
2. M. D. Lichter, V. A. Sujan, and S. Dubowsky, "Computational issues in the planning and kinematics of binary robots," in Proc. IEEE Int. Conf. Robot. Autom., Washington, DC, May 2002.
3. M. D. Lichter, V. A. Sujan, and S. Dubowsky, "Experimental demonstrations for a new paradigm in space robots," in Proc. 7th Int. Symp. Exp. Robot., Dec. 2000, pp. 225-234.
4. V. A. Sujan, M. D. Lichter, and S. Dubowsky, "Lightweight hyper-redundant binary elements for planetary exploration robots," in Proc. IEEE/ASME Int. Conf. Adv. Intell. Mechatron., 2001, pp. 1273-1278.
5. M. Hafez, M. D. Lichter, and S. Dubowsky, "Optimized binary modular reconfigurable robotic devices," IEEE/ASME Trans. Mechatron., vol. 8, no. 1, pp. 18-25, Jan. 2003.
6. I. Ebert-Uphoff and G. S. Chirikjian, "Efficient workspace generation for binary manipulators with many actuators," J. Robot. Syst., vol. 12, no. 6, pp. 383-400, 1995.
7. I. Ebert-Uphoff and G. S. Chirikjian, "Inverse kinematics of discretely actuated hyper-redundant manipulators using workspace densities," in Proc. IEEE Int. Conf. Robot. Autom., 1996, pp. 139-145.
8. Y. F. Wang and G. S. Chirikjian, "The comparison of two workspace-density-driven inverse kiematics methods for hyper-redundant manipulators," in Proc. ASME Des. Eng. Tech. Conf., vol. 5A, Montreal, QC, Canada, Sep. 2002, pp. 563-568.
9. G. S. Chirikjian and I. Ebert-Uphoff, "Numerical convolution on the Euclidean group with applications to workspace generation," IEEE Trans. Robot. Autom., vol. 14, no. 1, pp. 123-136, Feb. 1998.
10. Y. F. Wang and G. S. Chirikjian, "Workspace generation of hyper-redundant manipulators as a diffusion process on SE(N)," IEEE Trans. Robot. Autom., vol. 20, no. 3, pp. 399-408, Jun. 2004.
11. J. Suthakorn and G. S. Chirikjian, "A new inverse kinematics algorithm for binary manipulators with many actuators," Adv. Robot., vol. 15, no. 2, pp. 225-244, 2001.
12. G. S. Chirikjian and J. W. Burdick, "Kinematically optimal hyper-redundant manipulator configurations," IEEE Trans. Robot. Autom., vol. 11, no. 6, pp. 794-806, Dec. 1995.
13. K. R. Zanganeh and J. Angeles, "The inverse kinematics of hyper-redundant manipulators using splines," in Proc. IEEE Int. Conf. Robot. Autom., 1995, pp. 2797-2802.
14. Y. Y. Kim and G. H. Yoon, "Multi-resolution multi-scale topology optimization - A new paradigm," Int. J. Solids Struct., vol. 37, pp. 5529-5559, 2000.
15. G. H. Yoon and Y. Y. Kim, "The role of S-shaped mapping functions in the SIMP approach for topology optimization," KSME Int. J., vol. 15, pp. 1496-1506, 2003.
16. G. L. Nemhauser and L. A. Wolsey, Integer and Combinatorial Optimization. New York: Wiley, 1988.
17. O. K. Gupta and A. Ravindran, "Branch and bound experiments in convex nonlinear integer programming," Manage. Sci., vol. 31, pp. 1533-1546, 1985.
18. K. M. Bretthauer and B. Shetty, "The nonlinear resource allocation problem," Oper. Res., vol. 43, pp. 670-683, 1995.
19. F. C. Park, "Distance metrics on the rigid-body motions with applications to mechanism design," Trans. ASME, vol. 117, pp. 48-54, 1995.
20. D. S. Lees and G. S. Chirikjian, "An efficient method for computing the forward kinematics of binary manipulators," in Proc. IEEE Int. Conf. Robot. Autom., 1996, pp. 1012-1017.
21. K. Svanberg, "The method of moving asymptotes - A new method for structural optimization," Int. J. Numer. Meth. Eng., vol. 24, pp. 359-373, 1987.
22. W. Boothby, An Introduction to Differentiable Manifolds and Riemannian Geometry. New York: Academic, 1975.