Optimal point-to-point trajectory tracking of redundant manipulators using generalized pattern search

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...

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Main Authors: Ata, Atef A, Myo, ThiRein
Format: Article
Language:English
Published: Vienna University of Technology 2005
Subjects:
T Technology (General)
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
id iium-31348
recordtype eprints
spelling iium-313482013-08-20T06:33:56Z http://irep.iium.edu.my/31348/ Optimal point-to-point trajectory tracking of redundant manipulators using generalized pattern search Ata, Atef A Myo, ThiRein T Technology (General) 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. Vienna University of Technology 2005-09 Article PeerReviewed application/pdf en http://irep.iium.edu.my/31348/1/Optimal_point-to-point_trajectory.pdf Ata, Atef A and Myo, ThiRein (2005) Optimal point-to-point trajectory tracking of redundant manipulators using generalized pattern search. International Journal of Advanced Robotic Systems, 2 (3). pp. 239-244. ISSN 1729-8806 http://arxiv.org/ftp/cs/papers/0601/0601063.pdf
repository_type Digital Repository
institution_category Local University
institution International Islamic University Malaysia
building IIUM Repository
collection Online Access
language English
topic T Technology (General)
spellingShingle T Technology (General)
Ata, Atef A
Myo, ThiRein
Optimal point-to-point trajectory tracking of redundant manipulators using generalized pattern search
description 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.
format Article
author Ata, Atef A
Myo, ThiRein
author_facet Ata, Atef A
Myo, ThiRein
author_sort Ata, Atef A
title Optimal point-to-point trajectory tracking of redundant manipulators using generalized pattern search
title_short Optimal point-to-point trajectory tracking of redundant manipulators using generalized pattern search
title_full Optimal point-to-point trajectory tracking of redundant manipulators using generalized pattern search
title_fullStr Optimal point-to-point trajectory tracking of redundant manipulators using generalized pattern search
title_full_unstemmed Optimal point-to-point trajectory tracking of redundant manipulators using generalized pattern search
title_sort optimal point-to-point trajectory tracking of redundant manipulators using generalized pattern search
publisher Vienna University of Technology
publishDate 2005
url 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
first_indexed 2023-09-18T20:45:34Z
last_indexed 2023-09-18T20:45:34Z
_version_ 1777409651528171520

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