Optimal point-to-point trajectory tracking of redundant manipulators using generalized pattern search
Optimal point-to-point trajectory planning for planar redundant manipulator is considered in this study. The main objective is to minimize the sum of the position error of the end-effector at each intermediate point along the trajectory so that the end-effector can track the prescribed trajectory...
| Main Authors: | , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Vienna University of Technology
2005
|
| Subjects: | |
| Online Access: | http://irep.iium.edu.my/31348/ http://irep.iium.edu.my/31348/ http://irep.iium.edu.my/31348/1/Optimal_point-to-point_trajectory.pdf |
| Summary: | Optimal point-to-point trajectory planning for planar redundant manipulator is considered in this study. The
main objective is to minimize the sum of the position error of the end-effector at each intermediate point along the
trajectory so that the end-effector can track the prescribed trajectory accurately. An algorithm combining Genetic
Algorithm and Pattern Search as a Generalized Pattern Search GPS is introduced to design the optimal trajectory. To
verify the proposed algorithm, simulations for a 3-D-O-F planar manipulator with different end-effector trajectories
have been carried out. A comparison between the Genetic Algorithm and the Generalized Pattern Search shows that
The GPS gives excellent tracking performance. |
|---|