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Controlled Infeasibility for Physically Feasible Optimal Motion Planning of Manipulators

[+] Author Affiliations
Joo H. Kim, Chang B. Joo

Polytechnic Institute of New York University (NYU-Poly), Brooklyn, NY

Paper No. DETC2012-71342, pp. 1339-1345; 7 pages
doi:10.1115/DETC2012-71342
From:
  • ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B
  • Chicago, Illinois, USA, August 12–15, 2012
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-4503-5
  • Copyright © 2012 by ASME

abstract

In this presentation, infeasible solutions of the optimal motion planning problems are treated through constraint prioritization and associated weight functions. The merit function and elastic mode of a sequential quadratic programming algorithm are used as main driving formulations. In the proposed multiple-loop iterative algorithm, constraints are first normalized according to the current values at every certain number of iterations and then the priority weights are assigned. The algorithm was demonstrated using a three-degree of freedom planar manipulator for two problems such as obstacle avoidance and excessive external load for static configuration and a dynamic motion. The results of those two examples show reliable and physically consistent manipulator configurations which demonstrate the valid formulation of the prioritized constraints.

Copyright © 2012 by ASME

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