A method is developed to resolve the redundancy of serial robotic manipulators. The main characteristics of this method are as follows: (a) The solution is conservative (unique); (b) It globally (over the task period) optimizes the objective function; (c) It is computationally very fast. In fact, it is about three orders of magnitude faster than solving for the exact boundary value problem.
An Efficient Algorithm for Global Optimization in Redundant Manipulations
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Wang, Z., and Kazerounian, K. (December 1, 1989). "An Efficient Algorithm for Global Optimization in Redundant Manipulations." ASME. J. Mech., Trans., and Automation. December 1989; 111(4): 488–493. https://doi.org/10.1115/1.3259026
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