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...
Saved in:
Published in: | International journal of control, automation, and systems 2013, Automation, and Systems, 11(6), , pp.1266-1275 |
---|---|
Main Authors: | , , , |
Format: | Article |
Language: | English |
Subjects: | |
Citations: | Items that this one cites Items that cite this one |
Online Access: | Get full text |
Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
cited_by | cdi_FETCH-LOGICAL-c382t-5118897aac9bbe97e0c7a7772c738d8060ac45d4353b8418bd517102a0cfbace3 |
---|---|
cites | cdi_FETCH-LOGICAL-c382t-5118897aac9bbe97e0c7a7772c738d8060ac45d4353b8418bd517102a0cfbace3 |
container_end_page | 1275 |
container_issue | 6 |
container_start_page | 1266 |
container_title | International journal of control, automation, and systems |
container_volume | 11 |
creator | Li, Zhijun Yang, Kun Bogdan, Stjepan Xu, Bugong |
description | 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. |
doi_str_mv | 10.1007/s12555-011-9212-8 |
format | article |
fullrecord | <record><control><sourceid>proquest_nrf_k</sourceid><recordid>TN_cdi_nrf_kci_oai_kci_go_kr_ARTI_129836</recordid><sourceformat>XML</sourceformat><sourcesystem>PC</sourcesystem><sourcerecordid>3140713941</sourcerecordid><originalsourceid>FETCH-LOGICAL-c382t-5118897aac9bbe97e0c7a7772c738d8060ac45d4353b8418bd517102a0cfbace3</originalsourceid><addsrcrecordid>eNp1kUFr3jAMhk1Zod_a_YDdDLvsks1y4tg-lrJ1hUKhdGej-HMyt4md2clGS3_8_C2DjUEvEpIevSC9hLwF9gEYkx8zcCFExQAqzYFX6ojsOGOiapjmr8gOhFZV2zTtCXmd8z1jbcu13JHnm0CnuPgYaJwXP_kn3IqeptiVgaUTBj-vIy4xZfrTL99oXlIMAw0xjD44THT_GHAqqI3rXFoDXfMh5nWeY1ooJod0dD_cSLMr5TjEVHSmM3Lc45jdmz_5lHz9_Onu4kt1fXN5dXF-Xdla8aUSAEppiWh11zktHbMSpZTcylrtFWsZ2kbsm1rUnWpAdXsBEhhHZvsOratPyftNN6TePFhvIvrfeYjmIZnz27srA1yruv2Lzil-X11ezOSzdeOIwcU1G2hk-XPNQRX03X_ofVxTKIcUquW1hlZBoWCjbIo5J9ebOfkJ06MBZg7Wmc06U6wzB-vMQZlvO7mwYXDpH-UXl34BwFidrg</addsrcrecordid><sourcetype>Open Website</sourcetype><iscdi>true</iscdi><recordtype>article</recordtype><pqid>1462391681</pqid></control><display><type>article</type><title>On motion optimization of robotic manipulators with strong nonlinear dynamic coupling using support area level set algorithm</title><source>ABI/INFORM Collection</source><source>Springer Link</source><creator>Li, Zhijun ; Yang, Kun ; Bogdan, Stjepan ; Xu, Bugong</creator><creatorcontrib>Li, Zhijun ; Yang, Kun ; Bogdan, Stjepan ; Xu, Bugong</creatorcontrib><description>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.</description><identifier>ISSN: 1598-6446</identifier><identifier>EISSN: 2005-4092</identifier><identifier>DOI: 10.1007/s12555-011-9212-8</identifier><language>eng</language><publisher>Berlin/Heidelberg: Springer Berlin Heidelberg</publisher><subject>Algorithms ; Approximation ; Automation ; Control ; Control systems ; Engineering ; Mechatronics ; Offshore ; Optimization ; Planning ; Robotics ; Robotics and Automation ; Robots ; Studies ; 제어계측공학</subject><ispartof>International Journal of Control, 2013, Automation, and Systems, 11(6), , pp.1266-1275</ispartof><rights>Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag Berlin Heidelberg 2013</rights><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c382t-5118897aac9bbe97e0c7a7772c738d8060ac45d4353b8418bd517102a0cfbace3</citedby><cites>FETCH-LOGICAL-c382t-5118897aac9bbe97e0c7a7772c738d8060ac45d4353b8418bd517102a0cfbace3</cites></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://www.proquest.com/docview/1462391681?pq-origsite=primo$$EHTML$$P50$$Gproquest$$H</linktohtml><link.rule.ids>314,780,784,11687,27923,27924,36059,36060,44362</link.rule.ids><backlink>$$Uhttps://www.kci.go.kr/kciportal/ci/sereArticleSearch/ciSereArtiView.kci?sereArticleSearchBean.artiId=ART001820625$$DAccess content in National Research Foundation of Korea (NRF)$$Hfree_for_read</backlink></links><search><creatorcontrib>Li, Zhijun</creatorcontrib><creatorcontrib>Yang, Kun</creatorcontrib><creatorcontrib>Bogdan, Stjepan</creatorcontrib><creatorcontrib>Xu, Bugong</creatorcontrib><title>On motion optimization of robotic manipulators with strong nonlinear dynamic coupling using support area level set algorithm</title><title>International journal of control, automation, and systems</title><addtitle>Int. J. Control Autom. Syst</addtitle><description>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.</description><subject>Algorithms</subject><subject>Approximation</subject><subject>Automation</subject><subject>Control</subject><subject>Control systems</subject><subject>Engineering</subject><subject>Mechatronics</subject><subject>Offshore</subject><subject>Optimization</subject><subject>Planning</subject><subject>Robotics</subject><subject>Robotics and Automation</subject><subject>Robots</subject><subject>Studies</subject><subject>제어계측공학</subject><issn>1598-6446</issn><issn>2005-4092</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2013</creationdate><recordtype>article</recordtype><sourceid>M0C</sourceid><recordid>eNp1kUFr3jAMhk1Zod_a_YDdDLvsks1y4tg-lrJ1hUKhdGej-HMyt4md2clGS3_8_C2DjUEvEpIevSC9hLwF9gEYkx8zcCFExQAqzYFX6ojsOGOiapjmr8gOhFZV2zTtCXmd8z1jbcu13JHnm0CnuPgYaJwXP_kn3IqeptiVgaUTBj-vIy4xZfrTL99oXlIMAw0xjD44THT_GHAqqI3rXFoDXfMh5nWeY1ooJod0dD_cSLMr5TjEVHSmM3Lc45jdmz_5lHz9_Onu4kt1fXN5dXF-Xdla8aUSAEppiWh11zktHbMSpZTcylrtFWsZ2kbsm1rUnWpAdXsBEhhHZvsOratPyftNN6TePFhvIvrfeYjmIZnz27srA1yruv2Lzil-X11ezOSzdeOIwcU1G2hk-XPNQRX03X_ofVxTKIcUquW1hlZBoWCjbIo5J9ebOfkJ06MBZg7Wmc06U6wzB-vMQZlvO7mwYXDpH-UXl34BwFidrg</recordid><startdate>20131201</startdate><enddate>20131201</enddate><creator>Li, Zhijun</creator><creator>Yang, Kun</creator><creator>Bogdan, Stjepan</creator><creator>Xu, Bugong</creator><general>Springer Berlin Heidelberg</general><general>Springer Nature B.V</general><general>제어·로봇·시스템학회</general><scope>AAYXX</scope><scope>CITATION</scope><scope>3V.</scope><scope>7SC</scope><scope>7SP</scope><scope>7TB</scope><scope>7WY</scope><scope>7WZ</scope><scope>7XB</scope><scope>87Z</scope><scope>8AL</scope><scope>8FD</scope><scope>8FE</scope><scope>8FG</scope><scope>8FK</scope><scope>8FL</scope><scope>ABUWG</scope><scope>AFKRA</scope><scope>ARAPS</scope><scope>AZQEC</scope><scope>BENPR</scope><scope>BEZIV</scope><scope>BGLVJ</scope><scope>CCPQU</scope><scope>DWQXO</scope><scope>FR3</scope><scope>FRNLG</scope><scope>F~G</scope><scope>GNUQQ</scope><scope>HCIFZ</scope><scope>JQ2</scope><scope>K60</scope><scope>K6~</scope><scope>K7-</scope><scope>L.-</scope><scope>L7M</scope><scope>L~C</scope><scope>L~D</scope><scope>M0C</scope><scope>M0N</scope><scope>P5Z</scope><scope>P62</scope><scope>PQBIZ</scope><scope>PQBZA</scope><scope>PQEST</scope><scope>PQQKQ</scope><scope>PQUKI</scope><scope>Q9U</scope><scope>ACYCR</scope></search><sort><creationdate>20131201</creationdate><title>On motion optimization of robotic manipulators with strong nonlinear dynamic coupling using support area level set algorithm</title><author>Li, Zhijun ; Yang, Kun ; Bogdan, Stjepan ; Xu, Bugong</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c382t-5118897aac9bbe97e0c7a7772c738d8060ac45d4353b8418bd517102a0cfbace3</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2013</creationdate><topic>Algorithms</topic><topic>Approximation</topic><topic>Automation</topic><topic>Control</topic><topic>Control systems</topic><topic>Engineering</topic><topic>Mechatronics</topic><topic>Offshore</topic><topic>Optimization</topic><topic>Planning</topic><topic>Robotics</topic><topic>Robotics and Automation</topic><topic>Robots</topic><topic>Studies</topic><topic>제어계측공학</topic><toplevel>online_resources</toplevel><creatorcontrib>Li, Zhijun</creatorcontrib><creatorcontrib>Yang, Kun</creatorcontrib><creatorcontrib>Bogdan, Stjepan</creatorcontrib><creatorcontrib>Xu, Bugong</creatorcontrib><collection>CrossRef</collection><collection>ProQuest Central (Corporate)</collection><collection>Computer and Information Systems Abstracts</collection><collection>Electronics & Communications Abstracts</collection><collection>Mechanical & Transportation Engineering Abstracts</collection><collection>ABI/INFORM Collection</collection><collection>ABI/INFORM Global (PDF only)</collection><collection>ProQuest Central (purchase pre-March 2016)</collection><collection>ABI/INFORM Collection</collection><collection>Computing Database (Alumni Edition)</collection><collection>Technology Research Database</collection><collection>ProQuest SciTech Collection</collection><collection>ProQuest Technology Collection</collection><collection>ProQuest Central (Alumni) (purchase pre-March 2016)</collection><collection>ABI/INFORM Collection (Alumni Edition)</collection><collection>ProQuest Central (Alumni)</collection><collection>ProQuest Central</collection><collection>Advanced Technologies & Aerospace Collection</collection><collection>ProQuest Central Essentials</collection><collection>AUTh Library subscriptions: ProQuest Central</collection><collection>Business Premium Collection</collection><collection>Technology Collection</collection><collection>ProQuest One Community College</collection><collection>ProQuest Central</collection><collection>Engineering Research Database</collection><collection>Business Premium Collection (Alumni)</collection><collection>ABI/INFORM Global (Corporate)</collection><collection>ProQuest Central Student</collection><collection>SciTech Premium Collection</collection><collection>ProQuest Computer Science Collection</collection><collection>ProQuest Business Collection (Alumni Edition)</collection><collection>ProQuest Business Collection</collection><collection>Computer Science Database</collection><collection>ABI/INFORM Professional Advanced</collection><collection>Advanced Technologies Database with Aerospace</collection><collection>Computer and Information Systems Abstracts Academic</collection><collection>Computer and Information Systems Abstracts Professional</collection><collection>ABI/INFORM Collection</collection><collection>Computing Database</collection><collection>ProQuest Advanced Technologies & Aerospace Database</collection><collection>ProQuest Advanced Technologies & Aerospace Collection</collection><collection>One Business (ProQuest)</collection><collection>ProQuest One Business (Alumni)</collection><collection>ProQuest One Academic Eastern Edition (DO NOT USE)</collection><collection>ProQuest One Academic</collection><collection>ProQuest One Academic UKI Edition</collection><collection>ProQuest Central Basic</collection><collection>Korean Citation Index</collection><jtitle>International journal of control, automation, and systems</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext</fulltext></delivery><addata><au>Li, Zhijun</au><au>Yang, Kun</au><au>Bogdan, Stjepan</au><au>Xu, Bugong</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>On motion optimization of robotic manipulators with strong nonlinear dynamic coupling using support area level set algorithm</atitle><jtitle>International journal of control, automation, and systems</jtitle><stitle>Int. J. Control Autom. Syst</stitle><date>2013-12-01</date><risdate>2013</risdate><volume>11</volume><issue>6</issue><spage>1266</spage><epage>1275</epage><pages>1266-1275</pages><issn>1598-6446</issn><eissn>2005-4092</eissn><abstract>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.</abstract><cop>Berlin/Heidelberg</cop><pub>Springer Berlin Heidelberg</pub><doi>10.1007/s12555-011-9212-8</doi><tpages>10</tpages></addata></record> |
fulltext | fulltext |
identifier | ISSN: 1598-6446 |
ispartof | International Journal of Control, 2013, Automation, and Systems, 11(6), , pp.1266-1275 |
issn | 1598-6446 2005-4092 |
language | eng |
recordid | cdi_nrf_kci_oai_kci_go_kr_ARTI_129836 |
source | ABI/INFORM Collection; Springer Link |
subjects | Algorithms Approximation Automation Control Control systems Engineering Mechatronics Offshore Optimization Planning Robotics Robotics and Automation Robots Studies 제어계측공학 |
title | On motion optimization of robotic manipulators with strong nonlinear dynamic coupling using support area level set algorithm |
url | http://sfxeu10.hosted.exlibrisgroup.com/loughborough?ctx_ver=Z39.88-2004&ctx_enc=info:ofi/enc:UTF-8&ctx_tim=2025-01-10T21%3A06%3A25IST&url_ver=Z39.88-2004&url_ctx_fmt=infofi/fmt:kev:mtx:ctx&rfr_id=info:sid/primo.exlibrisgroup.com:primo3-Article-proquest_nrf_k&rft_val_fmt=info:ofi/fmt:kev:mtx:journal&rft.genre=article&rft.atitle=On%20motion%20optimization%20of%20robotic%20manipulators%20with%20strong%20nonlinear%20dynamic%20coupling%20using%20support%20area%20level%20set%20algorithm&rft.jtitle=International%20journal%20of%20control,%20automation,%20and%20systems&rft.au=Li,%20Zhijun&rft.date=2013-12-01&rft.volume=11&rft.issue=6&rft.spage=1266&rft.epage=1275&rft.pages=1266-1275&rft.issn=1598-6446&rft.eissn=2005-4092&rft_id=info:doi/10.1007/s12555-011-9212-8&rft_dat=%3Cproquest_nrf_k%3E3140713941%3C/proquest_nrf_k%3E%3Cgrp_id%3Ecdi_FETCH-LOGICAL-c382t-5118897aac9bbe97e0c7a7772c738d8060ac45d4353b8418bd517102a0cfbace3%3C/grp_id%3E%3Coa%3E%3C/oa%3E%3Curl%3E%3C/url%3E&rft_id=info:oai/&rft_pqid=1462391681&rft_id=info:pmid/&rfr_iscdi=true |