A projected gradient augmented Lagrangian approach to multi-objective trajectory planning of redundant robots

Transactions of the Canadian Society for Mechanical Engineering

Volumn 31, Issue 4, 2007, Pages 391-405

  Khoukhi, Amar ^a   Baron, Luc ^a   Balazinski, Marek ^a  

^a ÉCOLE POLYTECHNIQUE DE MONTRÉAL   (Canada)

Author keywords

Augmented Lagrangian; Decoupling; Gradient projection; Redundant robots; Trajectory planning

Indexed keywords

MATHEMATICAL MODELS; OPTIMAL CONTROL SYSTEMS; PROBLEM SOLVING; ROBOTS; TRAJECTORIES;

AUGMENTED LAGRANGE WITH DECOUPLING (ALD); GRADIENT PROJECTION; REDUNDANT ROBOTS; TRAJECTORY PLANNING;

REDUNDANT MANIPULATORS;

EID: 41449109216     PISSN: 03158977     EISSN: None     Source Type: Journal    
DOI: 10.1139/tcsme-2007-0028     Document Type: Conference Paper

References (15)

1. C. Ahrikencheikh and A. Seireg: "Optimized-Motion Planning", John Wiley & Sons, 1994.
2. A. Khoukhi: "An Optimal Time-Energy Control Design for a Prototype Educational Robot ", Robotica v. 20, p 661-671, 2002.
3. th CISM-IFFToMM Symposium, Robot Design, Dynamics and Control, ROMANSY'2006, p 179-186, Warsaw, Poland, June 20-24, 2006.
4. H. Jurgen, Mc. John: "Determination of Minimum-Time Manoeuvres for a Robotic Manipulator Using Numerical Optimization Methods", Mech. of Struct, and Mach., 27, (2), p 185-201, 1999.
5. O. Dahl: "Path-Constrained Robot Control with Limited Torques-Experimental Evaluation", IEEE Trans. Robot. Automat., v. 10, p 658-669, Oct.1994.
6. Y. Nakamura: "Advanced Robotics: Redundancy and Optimization", Addison-Wesley, 1991.
7. A. Liegeois: "Automatic Supervisory Control of Configurations and Behavior of Multibody Mechanisms", IEEE Trans. Syst., Man, Cybern., v SMC-7, p 868-871, Dec. 1977.
8. C. R. Carignan: 'Trajectory Optimization for Kinematically Redundant Arms", Journal of Roboric Systems, 8(2), p 221 - 248, 1991.
9. S. Chiaverini: "Singularity-Robust Task-Priority Redundancy Resolution for Real-Time Kinematic Control of Robot Manipulators", IEEE Trans. On Robotics & Automation, 13, (3), p 398-410, 1997.
10. T. Rockafellar: "Lagrange Multipliers and optimality", SIAMReview 35, p 183-238, 1993.
11. E. Polak: "Optimization, Algorithms and Consistent Approximation", Springer, N. Y, 1997.
12. F. P. Saramago, V. S. Júnior: "Dynamic Optimization for the Trajectory Planning of Robot Manipulators in the Presence of Obstacles", J. Braz. Soc. Mech. Sci. vol.21 no.3, 1999.
13. J. J. Craig: "Introduction to Robotics Mechanics and Control", Pearson Prentice Hall, Pearson Education, Inc., Upper Saddle River, NJ 07458, 2005.
14. A. Isidori: "Non linear control systems", Springer; 3rd Edition, London, UK, 1995.
15. A. Khoukhi, K. Demirli, L. Baron and M. Balazinski: "Hierarchical Neuro-Fuzzy NearMinimum Time Trajectory Planning of a Serial Planar Robot", in revision, Engineering Applications of Artificial Intelligence, 2007.