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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
  • 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


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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