Cited 6 time in webofscience Cited 6 time in scopus

A global optimal approach for robot kinematics design using the Grid Method

Title
A global optimal approach for robot kinematics design using the Grid Method
Authors
Park, Joon YoungChang, Pyung HunKim, Jin Oh
DGIST Authors
Chang, Pyung Hun
Issue Date
2006-10
Citation
International Journal of Control, Automation, and Systems, 4(5), 575-591
Type
Article
Article Type
Article
Keywords
Adaptive weights tuningglobal optimal kinematicsgrid methodsimulated annealing.
ISSN
1598-6446
Abstract
In a previous research, we presented the Grid Method and confirmed it as a systematic and efficient problem formulation method for the task-oriented design of robot kinematics. However, our previous research was limited in two ways. First, it gave only a local optimum due to its use of a local optimization technique. Second, it used constant weights for a cost function chosen by the manual weights tuning algorithm, thereby showing low efficiency in finding an optimal solution. To overcome these two limitations, therefore, this paper presents a global optimization technique and an adaptive weights tuning algorithm to solve a formulated problem using the Grid Method. The efficiencies of the proposed algorithms have been confirmed through the kinematic design examples of various robot manipulators.
URI
http://hdl.handle.net/20.500.11750/5837
Publisher
제어·로봇·시스템학회
Files:
There are no files associated with this item.
Collection:
Department of Robotics EngineeringRehabilitation Robotics Lab1. Journal Articles


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