On motion optimization of robotic manipulators with strong nonlinear dynamic coupling using support area level set algorithm

Aiming for a better dynamic performance from the robot beyond the physical limits set by the manufacturers, in this paper we propose to integrate the robot dynamics into motion planning and then to approximate the robot joint torques using parameterized B-splines. By introducing a high-dimensional n...

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Bibliographic Details
Published in:International journal of control, automation, and systems 2013, Automation, and Systems, 11(6), , pp.1266-1275
Main Authors: Li, Zhijun, Yang, Kun, Bogdan, Stjepan, Xu, Bugong
Format: Article
Language:English
Subjects:
Algorithms
Approximation
Automation
Control
Control systems
Engineering
Mechatronics
Offshore
Optimization
Planning
Robotics
Robotics and Automation
Robots
Studies
제어계측공학
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Summary:Aiming for a better dynamic performance from the robot beyond the physical limits set by the manufacturers, in this paper we propose to integrate the robot dynamics into motion planning and then to approximate the robot joint torques using parameterized B-splines. By introducing a high-dimensional non-linear fitness function, we transform the motion planning problem into an optimization of a non-linear fitness function, and then we develop the approach based on Support Area Level Set Algorithm (SALAS). It integrates dual-stage sampling strategies to avoid early convergence in a small search field and to improve the rate of convergence to the potential solution. The effectiveness of the proposed approach has been verified by the simulation of a two-link robotic manipulator.
ISSN:1598-6446
2005-4092
DOI:10.1007/s12555-011-9212-8